### Primitive Obstacle avoidance for auto mode

primitive system of evasion of obstacles for autonomous mode for copter.
I have always wondered why there is not a consensual way for an obstacle evasion system in automatic mode.
There are some solutions to this problem in the market but,
I find it curious to explain a simple way to do it with a routine of evasion of obstacles.

primitive system of evasion of obstacles for autonomous mode for copter.
I have always wondered why there is not a consensual way for an obstacle evasion system in automatic mode.
There are some solutions to this problem in the market but,
I find it curious to explain a simple way to do it with a routine of evasion of obstacles.

This model presents some limitations of course, but given its simplicity, it is a cheap thing to implement.

For those who analyze this geometrically find that if the line of union between the front drone and the waypoint forms an angle greater than 45 degrees, the drone will enter an infinite loop, but nothing bad will happen because the failsafe would enter battery. .

However I think I can say that for the largest part of the cases this would work correctly
and with a 95% positive chance of avoiding a tree in the middle of a field where a rectangular road is being made for fumigation or fertilization with drones.

even activating the normal mode of RTL if it is with a building should be able of bordering it without problems …

When the opportunity is given I will test this in the flight field and we will see the video … until now the evasion of obstacles in automatic mode will have to wait with more sophisticated solutions

i did something similar to this but more basic a few time ago, modificating the YMFC_AL of joop brokking drone code… you can see more or less the concept worked but only in stabilice mode

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