The proximity sensor sees something within 0.6 m
What ArduPilot says:
- PreArm: Proximity N deg, N.Nm (want > N.Nm)
Obstacle avoidance by proximity sensor is on (AVOID_ENABLE bit 1), and the nearest object the sensor reports is 0.6 m away or closer. The message gives its direction in degrees, clockwise from the nose, and its distance. A copter that armed like this would back away from the object the moment it left the ground.
What to do, most likely first
You, a wall or a case stand next to the copter.
FixClear 1 m around it, step back, and arm from a distance.
The sensor sees a part of the copter itself: a leg, an antenna, the GPS mast.
CheckThe same angle and distance are reported wherever the copter stands.
FixMask that direction with the ignore zones:
PRX1_IGN_ANG1is the angle,PRX1_IGN_WID1the width, both in degrees.
Parameters to look at
| Parameter | What it is |
|---|---|
AVOID_ENABLE | Avoidance control enable/disable |
PRX1_TYPE | Proximity type |
PRX1_IGN_ANG1 | Proximity sensor ignore angle 1 |
PRX1_IGN_WID1 | Proximity sensor ignore width 1 |
The code that sends it
PreArm: Proximity N deg, N.Nm (want > N.Nm)
ArduCopter/AP_Arming.cpp AP_Arming_Copter::proximity_checks() · Open in ArduPilot Copter-4.6.3
ArduCopter/AP_Arming_Copter.cpp AP_Arming_Copter::proximity_checks() · Open in ArduPilot Copter-4.7.1