AP_Avoidance_Copter(AP_AHRS &ahrs, class AP_ADSB &adsb)
void set_mode_else_try_RTL_else_LAND(control_mode_t mode)
bool check_flightmode(bool allow_mode_change)
bool handle_avoidance_perpendicular(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)
control_mode_t prev_control_mode
bool handle_avoidance_vertical(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)
AP_Avoidance_Copter & operator=(const AP_Avoidance_Copter &)=delete
bool handle_avoidance_horizontal(const AP_Avoidance::Obstacle *obstacle, bool allow_mode_change)
void handle_recovery(uint8_t recovery_action) override
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override