An unmanned aerial vehicle obstacle-avoidance control method, a flight controller and an unmanned aerial vehicle. The method comprises: acquiring a distance between an unmanned aerial vehicle (100) and an object in front in the flight direction thereof (S101); and according to the distance, controlling the flight height of the unmanned aerial vehicle (100) (S102). According to the control method, the flight height of an unmanned aerial vehicle (100) is controlled by means of a distance between the unmanned aerial vehicle (100) and an object in front; with the increase in the flight height, the distance between the unmanned aerial vehicle (100) and the object in front increases; as the unmanned aerial vehicle (100) flies forward, when the distance between the unmanned aerial vehicle (100) and the object in front is less than a safe distance, the flight height of the unmanned aerial vehicle (100) is increased, thereby ensuring that an agricultural unmanned aerial vehicle may work normally.
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