# 360 avoidance

Source: https://forum.modalai.com/topic/3622/360-avoidance
Category: FAQs (https://forum.modalai.com/category/4/faqs)
Posted: 2024-07-08 22:05:02 UTC by wilkinsaf
Replies: 4 · Views: 3122

## wilkinsaf · 2024-07-08 22:05:02 UTC

If I wanted to get 360 degree obstacle avoidance. What is the recommended path to do so?

front and back stereo depth? two TOF? outside sensor?

## Reply by Moderator (ModalAI staff) · 2024-07-09 05:17:21 UTC

@wilkinsaf is this for indoor or outdoor avoidance?

## Reply by wilkinsaf · 2024-07-09 19:34:02 UTC (in reply to Moderator)

@Moderator Indoor

## Reply by James Strawson (ModalAI staff) · 2024-07-16 21:52:43 UTC (in reply to wilkinsaf)

@wilkinsaf voxl-vision-hub's configuration file can be modified to subscribe to multiple sources of relevant data. By default it it set up to consume point cloud data from voxl-dfs-server (stereo cameras on Sentinel and M500), TOF data from PMD TOF sensors (Seeker, Starling, and Starling 2), as well as VL53L1CX mini rangefinders. Data from all concurrent sources are merged together and passed to the autopilot as an obstacle_distance message over mavlink.

Multiple of the VL53L1CX rangefinders can be set up using the open-source voxl-rangefinder-server https://docs.modalai.com/rangefinders/

However, you can integrate any sensor you like by publishing one of the above 3 MPA types that voxl-vision-hub can consume.

## Reply by wilkinsaf · 2024-07-18 15:16:15 UTC (in reply to James Strawson)

@James-Strawson This is perfect! Thank you James!