Hi, we are testing vertical bendy ruler using a 360 degree lidar at 10 degree increments (so 36 total data points per iteration) being sent to the drone using the OBSTACLE_DISTANCE mavlink message.
We have found that no matter what we set br_lookahead or margin_max to, the drone always stops at 5 meters away from the obstacle and begins obstacle avoidance. We have tried various combinations of the 2 params but always with the same result.
Ideally we would stop at 2 or 3 meters since we are flying up a hill with terrain follow using a rangefinder and don’t want to ‘walk up steps’, only using the obstacle avoidance when met by a large steep obstacle.
I have attached our current params. Also we have noticed that the mission planner proximity window also only displays with a radius of 5 meters so this could be something to do with it?
Edit: Originally said it was Copter v4.1.5, but we are using v4.2.2
llama_params.param (18.3 KB)