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the matternet code has a check that prevents changing to GUIDED mode when armed. This check prevents ADSB avoidance working as the AVOID_ADSB mode is a derived class from GUIDED.
Aksellence
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Jan 17, 2020
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Looks good except it fails travis ci build and is missing spaces (minor typo).
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This adds onboard logging of ADSB data, as well as bringing the ADSB support into line with current ArduPilot code. It adds new parameters ADSB_LIST_ALT, ADSB_ICAO_SPECL and ADSB_LOG