A method for controlling an aerial vehicle to avoid obstacles, comprising: detecting, by one or more processors coupled to memory of the aerial vehicle, based on a world model generated from sensor data captured by one or more sensors positioned on the aerial vehicle during flight, an obstacle for the aerial vehicle; the method being characterised by the following steps: triggering (504, 506), by the one or more processors, an augmented manual control mode responsive to a speed of the aerial vehicle being less than a predetermined threshold and detecting the obstacle; setting, by the one or more processors responsive to triggering the augmented manual control mode, a speed constraint for the aerial vehicle in a direction of the obstacle based on a distance between the aerial vehicle and the obstacle; receiving, by the one or more processors via an inceptor of the aerial vehicle, an instruction to navigate the aerial vehicle in the direction of the obstacle at a second speed greater than the speed constraint; and adjusting, by the one or more processors, the instruction to replace the second speed with the speed constraint, to cause the aerial vehicle to navigate in the direction of the obstacle at the speed constraint instead of the second speed. detecting, by one or more processors coupled to memory of the aerial vehicle, based on a world model generated from sensor data captured by one or more sensors positioned on the aerial vehicle during flight, an obstacle for the aerial vehicle; the method being characterised by the following steps: triggering (504, 506), by the one or more processors, an augmented manual control mode responsive to a speed of the aerial vehicle being less than a predetermined threshold and detecting the obstacle; setting, by the one or more processors responsive to triggering the augmented manual control mode, a speed constraint for the aerial vehicle in a direction of the obstacle based on a distance between the aerial vehicle and the obstacle; receiving, by the one or more processors via an inceptor of the aerial vehicle, an instruction to navigate the aerial vehicle in the direction of the obstacle at a second speed greater than the speed constraint; and adjusting, by the one or more processors, the instruction to replace the second speed with the speed constraint, to cause the aerial vehicle to navigate in the direction of the obstacle at the speed constraint instead of the second speed. triggering (504, 506), by the one or more processors, an augmented manual control mode responsive to a speed of the aerial vehicle being less than a predetermined threshold and detecting the obstacle; setting, by the one or more processors responsive to triggering the augmented manual control mode, a speed constraint for the aerial vehicle in a direction of the obstacle based on a distance between the aerial vehicle and the obstacle; receiving, by the one or more processors via an inceptor of the aerial vehicle, an instruction to navigate the aerial vehicle in the direction of the obstacle at a second speed greater than the speed constraint; and adjusting, by the one or more processors, the instruction to replace the second speed with the speed constraint, to cause the aerial vehicle to navigate in the direction of the obstacle at the speed constraint instead of the second speed.