OA_BR_ parameters

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

OA_BR_CONT_ANGLE

BendyRuler’s bearing change resistance threshold angle

BendyRuler will resist changing current bearing if the change in bearing is over this angle

Range	20 to 180
Increment	5
User level	Standard

OA_BR_CONT_RATIO

Obstacle Avoidance margin ratio for BendyRuler to change bearing significantly

BendyRuler will avoid changing bearing unless ratio of previous margin from obstacle (or fence) to present calculated margin is atleast this much.

Range	1.1 to 2
Increment	0.1
User level	Standard

OA_BR_LOOKAHEAD

Object Avoidance look ahead distance maximum

Object Avoidance will look this many meters ahead of vehicle

Units	m
Range	1 to 100
Increment	1
User level	Standard

OA_BR_TYPE

Type of BendyRuler

BendyRuler will search for clear path along the direction defined by this parameter

User level

Standard

Values

Value	Meaning
1	Horizontal search
2	Vertical search