OA_DB_ parameters

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

OA_DB_ALT_MIN

OADatabase minimum altitude above home before storing obstacles

OADatabase will reject obstacles if vehicle’s altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.

Units	m
Range	0 to 4
User level	Advanced

OA_DB_BEAM_WIDTH

OADatabase beam width

Beam width of incoming lidar data, used to calculate a object radius if none is provided by the data source.

Units	deg
Range	1 to 10
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

OA_DB_DIST_MAX

OADatabase Distance Maximum

Maximum distance of objects held in database. Set to zero to disable the limits

Units	m
Range	0 to 10
User level	Advanced

OA_DB_EXPIRE

OADatabase item timeout

OADatabase item timeout. The time an item will linger without any updates before it expires. Zero means never expires which is useful for a sent-once static environment but terrible for dynamic ones.

Units	s
Range	0 to 500
Increment	1
User level	Advanced

OA_DB_OUTPUT

OADatabase output level

OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.

User level

Advanced

Values

Value	Meaning
0	Disabled
1	Send only HIGH importance items
2	Send HIGH and NORMAL importance items
3	Send all items

OA_DB_QUEUE_SIZE

OADatabase queue maximum number of points

OADatabase queue maximum number of points. This in an input buffer size. Larger means it can handle larger bursts of incoming data points to filter into the database. No impact on cpu, only RAM. Recommend larger for faster datalinks or for sensors that generate a lot of data.

Range	1 to 200
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced

OA_DB_RADIUS_MIN

OADatabase Minimum radius

Minimum radius of objects held in database

Units	m
Range	0 to 10
User level	Advanced

OA_DB_SIZE

OADatabase maximum number of points

OADatabase maximum number of points. Set to 0 to disable the OA Database. Larger means more points but is more cpu intensive to process

Range	0 to 10000
Reboot required	Yes — the change takes effect after a reboot.
User level	Advanced