P4P Obstacle Avoidance in Autonomous modes

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I flew a P4 for roughly a year, mainly using Litchi to plan missions to photograph static scenes and stationary objects. Now that I also have a P4P+ which can't run Litchi, I'm starting to get a lot more interested in the active track modes.

Specifically I'd like to use modes such as the circle mode. It just seems like modes such as this have a lot of lateral movement, and therefore might not have very reliable obstacle avoidance? If the P4P sees an object when it's facing it, does it map out the area to memory and remember that object is there when making lateral moves? Or does the P4P only know about obstacles it can currently see? I know that the side sensors are all but useless since they are only enabled in Tripod and Beginner modes, so I'm just curious how dangerous the autonomous modes can be.
 

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