As I have only just received my H back from Yuneec UK CS and as one of the faults was no optical avoidance and they said that they have cured all my faults, whilst it was away they have updated the all the firmware, so hoping to see if the optical avoidance now works tomorrow, this is going to be interesting as you have said since the update yours no longer works, when you upgraded your firmware did you stick with EU or standard because at the moment my H has EU firmware installed as you would expect from Yuneec UK CS, I don't wish to change to standard firmware until I have checked all of my previous issues are gone, hopefully I'll let you know tomorrow if the optical avoidance works or not.