Drone doesn't avoid obstacles with distance sensors

Good afternoon everybody,

I am working with 4 Teraranger Evo Mini sensors pointing forward, backward, to the left and right; and Ardupilot Firmware, flying in LOITER mode.

The sensors work perfectly in the 4 orientations, measure with precision and gather good information. The problem comes when trying to set them up for obstacle avoidance, that the drone doesn’t stop when finding an obstacle at certain distance.

I leave here the parameters I configured, and hope that anyone know a solution:

Avoidance Parameters:

  • AVOID_BEHAVE = 1
  • AVOID_DIST_MAX = 2
  • AVOID_ENABLE = 7
  • AVOID_MARGIN = 2

Proximity Sensor parameters:

  • PRX_TYPE = 4
  • PRX_IGN_ANG1 = 45
  • PRX_IGN_ANG2 = 135
  • PRX_IGN_ANG3 = 225
  • PRX_IGN_ANG4 = 315
  • PRX_IGN_WID1 = 45
  • PRX_IGN_WID2 = 45
  • PRX_IGN_WID3 = 45
  • PRX_IGN_WID4 = 45

I even set up the obstacle avoidance for the RC controller:

  • RC8_OPTION = 40
  • RC8_MIN = 982
  • RC8_MAX = 2005
  • RC8_TRIM = 982

Best to ask ArduPilot questions in the ArduPilot forum , discuss.Ardupilot.org

Thank you, I will send it now.