# Obstacle avoidance - Offboard mode

Source: https://forum.modalai.com/topic/412/obstacle-avoidance-offboard-mode
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2021-08-23 16:00:27 UTC by gauravshukla914
Replies: 0 · Views: 520

## gauravshukla914 · 2021-08-23 16:00:27 UTC

Hi, we are trying to implement obstacle avoidance feature on our VOXL flight deck. The documentation provided is for collision prevention where we set 4 parameters in PX4 and enable the VOA flag in the configuration file. However, as per PX4 documentation, collision prevention works in position flight mode. However, we are trying to run our code in offboard flight mode, and while testing, we confirmed that it doesn't work with the offboard flight mode.

Is there any separate documentation that we can see what changes can we do on the VOXL side to enable obstacle avoidance in Offboard flight mode?