Step 6 — Obstacle awareness

LDRobot LD-06 LiDAR

More images

LD-06 wiring

Goal: LD-06 360° proximity; ignore sectors blocked by antennas/frame; then cautious avoidance.

Manuals & guides

Official docs and practical guides for this step:

• ArduPilot — LDRobot LD-06
• ArduPilot — Proximity sensors
• ArduPilot — Simple object avoidance
• ArduPilot — BendyRuler path planning

Video guides

Videos below are embedded. Use the link if the player does not load.

ArduCopter simple avoidance in Loiter (proximity) — YouTube

What you do

1. Wire LD-06 to TELEM1 / SERIAL1 (PRX1_TYPE=16) — locked, do not share with ELRS.
2. Mount level at a height that keeps the 360° scan as clear as possible.
3. Configure ignore sectors where masts, arms, or antennas block the scan.
4. Start with proximity/warnings only; enable avoidance only after controlled tests.
5. Outdoors: approach known obstacles slowly with failsafe ready.

Related parts

• LDRobot LD-06
• Pixhawk 6X Mini (port allocation)

Done when

• Proximity works with sensible sectors; avoidance is on only after safe validation.

Photos