VS is able to avoid obstacles such as buildings. SV can set flag if buildings have to be considered when planning the flight path. The flight path become way points to control where the vehicle fly from point to point to avoid obstacles at each way point.
VS has the capability to maintain a minimum height above terrain/surface relief/profile to avoid collision to terrain/surface when planning the flight path. The flight path become way points to control where the vehicle fly from point to point to avoid terrain/surface height at each way point. If the surface represent building roof top surface, this capability can avoid building and ground surface at the same time.
