AVOID_ parameters¶

10 parameters in the AVOID_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.

AVOID_ACCEL_MAX¶

Avoidance maximum acceleration

Maximum acceleration with which obstacles will be avoided with. Set zero to disable acceleration limits

Units	`m/s/s`
Range	`0` to `9`
User level	Standard

AVOID_ALT_MIN¶

Avoidance minimum altitude

Minimum altitude above which proximity based avoidance will start working. This requires a valid downward facing rangefinder reading to work. Set zero to disable

Units	`m`
Range	`0` to `6`
User level	Standard

AVOID_ANG_MAX¶

Avoidance max lean angle in non-GPS flight modes

Max lean angle used to avoid obstacles while in non-GPS modes. Set to zero to disable lean-based avoidance

Units	`deg`
Range	`0` to `45`
Increment	`0.1`
User level	Standard

AVOID_BACKUP_DZ¶

Avoidance deadzone between stopping and backing away from obstacle

Distance beyond AVOID_MARGIN parameter, after which vehicle will backaway from obstacles. Increase this parameter if you see vehicle going back and forth in front of obstacle.

Units	`m`
Range	`0` to `2`
User level	Standard

AVOID_BACKUP_SPD¶

Avoidance maximum horizontal backup speed

Maximum speed that will be used to back away from obstacles horizontally in position control modes (m/s). Set zero to disable horizontal backup.

Units	`m/s`
Range	`0` to `2`
User level	Standard

AVOID_BACKZ_SPD¶

Avoidance maximum vertical backup speed

Maximum speed that will be used to back away from obstacles vertically in height control modes (m/s). Set zero to disable vertical backup.

Units	`m/s`
Range	`0` to `2`
User level	Standard

AVOID_BEHAVE¶

Avoidance behaviour

Avoidance behaviour (slide or stop)

User level

Standard

Values¶

Value	Meaning
`0`	Slide
`1`	Stop

AVOID_DIST_MAX¶

Avoidance distance maximum in non-GPS flight modes

Distance from object at which obstacle avoidance will begin in non-GPS modes

Units	`m`
Range	`1` to `30`
User level	Standard

AVOID_ENABLE¶

Avoidance control enable/disable

Enabled/disable avoidance input sources

User level

Standard

Bitmask¶

Value	Meaning
`0`	UseFence
`1`	UseProximitySensor
`2`	UseBeaconFence

AVOID_MARGIN¶

Avoidance distance margin in GPS modes

Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes

Units	`m`
Range	`1` to `10`
User level	Standard