Will Arducopter use DISTANCE_SENSOR downwards message?

ArduCopter
1

If Arducopter (3.4 or 3.5) receives a MavLink DISTANCE_SENSOR message, with orientation=25 (downwards), will it use to enhance landing (as when using supported sonars) and to enhance AltHold/Loiter height control?

And what about orientation=24 (upwards)? Will it use for obstacle avoiding?

2

Hello
Yes it is, have a look here: http://ardupilot.org/dev/docs/code-overview-object-avoidance.html

3

Thanks, ppoirier.

I had already read this doc. It is not clear if orientation=25 is used. It is focused on lateral (0-7) avoidance. The sonar doc does not mention DISTANCE_SENSOR messages either. That’s why I am not sure if 25 would be used as if a supported sonar is installed (i.e.the copter will slow it’s descent to 50cm/s when the sonar detects something below the vehicle).

About 24, I agree there is a note about object avoidance. Since it’s inside AltHold section, it’s just not clear that Loiter and PosHold modes will use it.

Thanks!