Object Avoidance with Dijkstra’s

Copter and Rover 4.0 (and higher) support Dijkstra’s for path planning around fences and stay-out zones. This well known algorithm internally builds up a list of “safe areas” calculated from the fence and stay-out zones and then finds the shortest path to the destination.



Dijkstra’s does not support avoiding objects sensed with lidar or proximity sensors


Dijkstra’s does not support Spline Waypoints.


  • OA_TYPE = 2 (Dijkstra). You may need to refresh parameters after changing this to see the parameters below.

  • OA_MARGIN_MAX: the distance (in meters) that the vehicle should stay away from the fences and stay-out zones