Another aircraft is too close, by ADS-B
What ArduPilot says:
- PreArm: ADSB threat detected
ADS-B avoidance is on (AVD_ENABLE 1) and the receiver reports an aircraft close enough to count as a threat, so the avoidance failsafe is active. Arming is refused until that aircraft has moved away.
What to do, most likely first
A real aircraft is nearby.
CheckThe ground station shows ADS-B traffic on its map.
FixWait until it has gone; the message clears by itself.
Another aircraft of your own, with an ADS-B transmitter, is switched on next to this one.
FixSwitch it off or move it away before arming.
Parameters to look at
| Parameter | What it is |
|---|---|
AVD_ENABLE | Enable Avoidance using ADSB |
AVD_F_ACTION | Collision Avoidance Behavior |
ADSB_TYPE | ADSB Type |
The code that sends it
PreArm: ADSB threat detected
ArduCopter/AP_Arming.cpp AP_Arming_Copter::arm_checks() · Open in ArduPilot Copter-4.6.3
ArduCopter/AP_Arming.cpp AP_Arming_Copter::parameter_checks() · Open in ArduPilot Copter-4.6.3
ArduCopter/AP_Arming_Copter.cpp AP_Arming_Copter::arm_checks() · Open in ArduPilot Copter-4.7.1