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Mode. In the Safe Mode, it will remain hovering and cannot be operated to fly towards the
direction of the obstacle. The APP will displays the obstacle distance in red. Operating the
drone fly to the opposite direction of the obstacle will exit the safe mode.
Special Condition
：
If any obstacle appears suddenly during the flight, the drone will stop with maximum
braking force.
2.5.6.3.
Execution Logic
1. When the obstacle avoidance function is turned on, it will function when the drone is
in "S" flight mode or when the drone is landing.
2. After the obstacle avoidance function is turned on, in order to ensure sufficient
braking distance, the maximum flying speed is 6m/s.
3. The obstacles can not be detected when the vertical FOV is large (greater than 10°or
less than -10°).
4. When the obstacle avoidance function is turned on, the vertical FOV is limited to 10°;
it can be 10° to 27° when the drone is decelerating or braking. When the rear obstacle
avoidance radar detects correctly and the drone backward flying speed is greater
than 0.2 m/s, the rear obstacle avoidance radar is activated;
5. When the forward flying speed is greater than 0.2m/s and the front radar is working
normally, it will be activated.
6. When the drone is detecting with the front radar and the obstacle distance is greater
than 18m, it is determined that there is no obstacle in the front direction, and the
obstacle avoidance level is 0.
7. The drone will be in the speed limited status, if the distance of the front obstacle is
greater than 8m and less than 18m. When the forward speed is greater than 1m/s,
drone will automatically decelerate to 1m/s. When the forward speed is less than
1m/s, the restricted forward speed can not exceed 1m/s. When the front obstacle
avoidance level is 1, the level will be 0 after the drone has a backward speed greater
than 0.2m/s.
8. If the front obstacle distance is less than 8m, the drone will be braked immediately
and enter Safe Mode.The drone cannot be controlled to fly forward or turn left/right ,
forward obstacle avoidance level is 2, which can be released when the backward
speed is greater than 0.2m/s.
9. In the GPS mode, when the horizontal speed is less than 1 m/s during takeoff and
landing , the drone is allowed to trigger the emergency brake at a distance of 5 m
from the obstacle and enter the Safe Mode.
10. When the obstacle disappears, the drone will be in the protection mode for 2 seconds,
after which it will gradually lift the speed limit.
11. Execution Logic of backward and front obstacle avoidance are the same.
