Want to change the minumum distance/margin for avoidance to 0.1m

ArduCopter
1

Want to use obstacle avoidance in loiter mode, with a small change. The AVOID_MARGIN runs the obstacle avoidance for a range 1-10m. I want to change it to take 0.1m as the minimum, since my environment is cluttered/crowded. How do I make this change?

The only possible change i found was to change
#define AC_AVOID_NONGPS_DIST_MAX_DEFAULT 5.0f
to
#define AC_AVOID_NONGPS_DIST_MAX_DEFAULT 0.1f

Would this work? And is there a better way?

2

Hello! Have you solved this problem? I also want to change my AVOID_MARGIN value for 0.5 m.

Regards

Mihail