OA_ parameters

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

OA_MARGIN_MAX

Object Avoidance wide margin distance

Object Avoidance will ignore objects more than this many meters from vehicle

Units	m
Range	0.1 to 100
Increment	1
User level	Standard

OA_OPTIONS

Options while recovering from Object Avoidance

Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).

User level

Standard

Bitmask

Value	Meaning
1	log Dijkstra points
2	Allow fast waypoints (Dijkastras only)

OA_TYPE

Object Avoidance Path Planning algorithm to use

Enabled/disable path planning around obstacles

User level

Standard

Values

Value	Meaning
0	Disabled
1	BendyRuler
2	Dijkstra
3	Dijkstra with BendyRuler