Path planning around obstacles needs a reboot to start
What ArduPilot says:
- OA requires reboot
- Dijkstra OA requires reboot
- BendyRuler OA requires reboot
OA_TYPE selects path planning around obstacles and fences: 1 BendyRuler, 2 Dijkstra, 3 both. The planner is created only once, at start-up. The one OA_TYPE names does not exist: either OA_TYPE was changed since start-up, or there was no memory to create it. Until it exists the copter will not arm.
What to do, most likely first
OA_TYPEwas changed and the flight controller has not been rebooted since.FixReboot the flight controller.
The message is still there after a reboot: the board has no memory for the planner.
CheckOther out-of-memory messages appear at start-up.
FixFree memory by switching off features you do not use (scripting is usually the largest), and reboot.
OA_TYPEcame with another copter's parameters, and this copter has no use for path planning.FixSet
OA_TYPEto 0 and reboot. Stopping at a fence or an obstacle (AVOID_ENABLE) is a separate feature and keeps working.
Parameters to look at
| Parameter | What it is |
|---|---|
OA_TYPE | Object Avoidance Path Planning algorithm to use |
AVOID_ENABLE | Avoidance control enable/disable |
The code that sends it
OA requires reboot
libraries/AC_Avoidance/AP_OAPathPlanner.cpp AP_OAPathPlanner::pre_arm_check() · Open in ArduPilot Copter-4.7.1
Dijkstra OA requires reboot
libraries/AC_Avoidance/AP_OAPathPlanner.cpp AP_OAPathPlanner::pre_arm_check() · Open in ArduPilot Copter-4.7.1
BendyRuler OA requires reboot
libraries/AC_Avoidance/AP_OAPathPlanner.cpp AP_OAPathPlanner::pre_arm_check() · Open in ArduPilot Copter-4.7.1