ArduCopter Autonomous Navigation.

Hi,

I'm working on an CoaxCopter copter and we want to provide it of an autonomous flight mode without GPS, but using 3 sonars to detect objects in front-right-left of the copter.. We'd like to follow the following pattern:

1.- Altitude hold. (Already implemented in arducopter.)


2.-Go always Forward.


3.- If something is detected in front, then rotate 90° or -90° depending on if something is on the left or the right, and keep going forward.


3.- If something in front, right and left, then rotate 180° and keep going forward.


Actually I don't understand at all ArduCopter source code, and I'm fairly complicated with this stuff. Any help would be appreciated, specially if someone could explain me which are the main files that  I should modify in order to get the goal. Thanks you all beforehand,


Juan

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