> For the complete documentation index, see [llms.txt](https://ascend-engineering.gitbook.io/ascend-collision-overwatch/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ascend-engineering.gitbook.io/ascend-collision-overwatch/ascend-collision-overwatch.md). # ASCEND COLLISION OVERWATCH ## Description Ascend Collision Overwatch (ACO) is an app integrating LightWare’s SF45 into our collision-prevention stack, which runs alongside mission mode. If an obstacle is detected, the drone commands a stop and enters a hold-position state until manually flown to safety by an operator. ACO is designed for high-value UAV platforms where preventing a single crash can\ save thousands of dollars in hardware, downtime, and lost missions View ACO in action here: ## Features * Runs on the VOXL2 and Auterion Skynode * Compatible with PX4 and ArduPilot * When an obstacle triggers a hold event, QGC displays a warning message * Plug-and-play support for the LightWare SF45 * Emits clear warning messages on any malfunction, aiding troubleshooting * Supports BVLOS operations * Velocity-based obstacle detection with directional awareness (monitors only the flight path) * Starts automatically in the background after a simple install * Fully configurable * Foxglove visualization available ## Where to buy Use the following link to purchase a license: An email with the installation instructions would be sent to the entered email address. ## QnA's Q: **How do I install it?**\ A: ACO is installed with the help of our [Ascend Installer](https://ascendengineering.github.io/ascend-software-hosted/), details of which are emailed to users on a license purchase. Q: **What autopilots does it support?**
\ A: PX4 and ArduPilot, via MAVLink-based integration. Q: **What external sensor does it use?**\ A: ACO uses LightWare’s SF45 rotating LiDAR for its 270° obstacle detection coverage. Q: **What is the maximum detection distance?**\ A: Up to 40 meters with the SF45 LiDAR. Q: **How much does it cost?**\ A: $200 per license, per drone. A license can only be activated on one drone and cannot be changed later. Q: **Does it detect power lines?**\ A: Not yet. Due to current sensor limitations, ACO cannot reliably detect power lines. We are actively working on expanding detection capabilities. Q: **Can it be integrated with other sensors?**\ A: Yes. ACO was designed to support multiple sensor types. The SF45 is simply the first and most\ widely tested sensor integration. We are actively working on expanding the supported sensor base. Q: **How do we get started?**\ A: Refer to the [**Where to buy**](https://ascend-engineering.gitbook.io/ascend-collision-overwatch#where-to-buy) section to purchase our license.