avoiding obstacles when in Waypoints Mode on mission planner

Hello There iam using APM 2.5
and sonar as a sensor
also using Mission Planner for the interface

in my final project ill build navigation for a ship that can avoiding obstacle when we use wapoints mode or autobomous mode.

can some one tell how t figure it out?

have i must add Microcontroller again to  make the code.

best regards

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