# Avoidance

Source: https://forum.modalai.com/topic/1087/avoidance
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: vio
Posted: 2022-07-05 19:08:41 UTC by Ward Javoronok
Replies: 2 · Views: 2447

## Ward Javoronok · 2022-07-05 19:08:41 UTC

I'm not able to activate flight mode on QCG. The error message is saying: Avoidance System not ready.
The Not Ready error message shows GPS is disabled, Gyro 2 is disabled, and Accelerometer 2 is disabled.
Do I need these enabled for flight mode?
If so, how do I enable them?

## Reply by kailyGen · 2026-05-26 06:09:27 UTC

You might also want to look into combining depth sensing with a simple occupancy grid or voxel map instead of relying only on direct obstacle detection. It usually gives smoother avoidance behavior, especially in tighter spaces. I had better results once I started filtering noisy sensor data too.

## Reply by Eric Katzfey (ModalAI staff) · 2026-05-26 15:46:37 UTC

@Ward-Javoronok How is the parameter COM_OBS_AVOID set? If you set it to 0 that disables obstacle avoidance and should get rid of that error.