AVD_ parameters¶
12 parameters in the AVD_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
AVD_ENABLE¶
Enable Avoidance using ADSB
Enable Avoidance using ADSB
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Disabled |
|
Enabled |
AVD_F_ACTION¶
Collision Avoidance Behavior
Specifies aircraft behaviour when a collision is imminent
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Report |
|
Climb Or Descend |
|
Move Horizontally |
|
Move Perpendicularly in 3D |
|
RTL |
|
Hover |
AVD_F_ALT_MIN¶
ADS-B avoidance minimum altitude
Minimum AMSL (above mean sea level) altitude for ADS-B avoidance. If the vehicle is below this altitude, no avoidance action will take place. Useful to prevent ADS-B avoidance from activating while below the tree line or around structures. Default of 0 is no minimum.
Units |
|
User level |
Advanced |
AVD_F_DIST_XY¶
Distance Fail XY
Closest allowed projected distance before F_ACTION is undertaken
Units |
|
User level |
Advanced |
AVD_F_DIST_Z¶
Distance Fail Z
Closest allowed projected distance before BEHAVIOUR_F is undertaken
Units |
|
User level |
Advanced |
AVD_F_RCVRY¶
Recovery behaviour after a fail event
Determines what the aircraft will do after a fail event is resolved
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
Remain in AVOID_ADSB |
|
Resume previous flight mode |
|
RTL |
|
Resume if AUTO else Loiter |
AVD_F_TIME¶
Time Horizon Fail
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken
Units |
|
User level |
Advanced |
AVD_OBS_MAX¶
Maximum number of obstacles to track
Maximum number of obstacles to track
User level |
Advanced |
AVD_W_ACTION¶
Collision Avoidance Behavior - Warn
Specifies aircraft behaviour when a collision may occur
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
|
None |
|
Report |
AVD_W_DIST_XY¶
Distance Warn XY
Closest allowed projected distance before W_ACTION is undertaken
Units |
|
User level |
Advanced |
AVD_W_DIST_Z¶
Distance Warn Z
Closest allowed projected distance before BEHAVIOUR_W is undertaken
Units |
|
User level |
Advanced |
AVD_W_TIME¶
Time Horizon Warn
Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)
Units |
|
User level |
Advanced |