I am working on collision prevention algorithm as stated in Collision Prevention · PX4 v1.9.0 User Guide. I am using raspi 3 as companion board and mavlink communication is established with the help of pymavlink. For collision prevention I had the settings as below:
MPC_COL_PREV_D = 100 cm
min = 50 cm
max = 4000 cm
Dummy object distance = 100 cm
Firstly code checks that it is working on mavlink 2 version and then start exchange of heartbeat message.after that it starts to send OBSTACLE_DISTANCE msg with frequency of 30Hz.
And when I tried to fly the drone it does not stops or breaks.
I don’t know how to check that this message is received by flight controller and what is happening with it.