Another aircraft is close: the plane is avoiding it
What ArduPilot says:
- Avoid: Performing action: N
- Avoid: Resuming with action: N
The ADS-B receiver reported an aircraft on a collision course and the avoidance failsafe acted. The number is what it did, as chosen by AVD_F_ACTION: 1 only reports, 2 climbs or descends, 3 moves sideways, 4 does both, 5 is RTL, 6 is LOITER. No action is taken in MANUAL or AUTOTUNE, nor during an automatic take-off or landing. “Resuming” comes when the threat has passed; its number is AVD_F_RCVRY: 0 stays in AVOID_ADSB and circles, 1 goes back to the mode before, 2 is RTL, 3 resumes AUTO if that is where it was.
What to do, most likely first
A manned aircraft really is near.
FixLet the avoidance work, or take over in MANUAL or FBWA and descend. Look and listen for the aircraft; it has the right of way.
You fly near an airfield or under a busy route, and it triggers on traffic far above you.
CheckIn the ground station the traffic shown is hundreds of metres above or beside you.
FixChoose another place to fly. What counts as a threat is set by
AVD_F_DIST_XYandAVD_F_DIST_Z(how close, in metres) andAVD_F_TIME(how far ahead to look); change them only when you understand each one.
Parameters to look at
| Parameter | What it is |
|---|---|
AVD_ENABLE | Enable Avoidance using ADSB |
AVD_F_ACTION | Collision Avoidance Behavior |
AVD_F_RCVRY | Recovery behaviour after a fail event |
ADSB_TYPE | ADSB Type |
The code that sends it
Avoid: Performing action: N
ArduPlane/avoidance_adsb.cpp AP_Avoidance_Plane::handle_avoidance() · Open in ArduPilot Plane-4.7.1
Avoid: Resuming with action: N
ArduPlane/avoidance_adsb.cpp AP_Avoidance_Plane::handle_recovery() · Open in ArduPilot Plane-4.7.1