How to test Object Avoidance in SITL

ArduCopter
1

I’m working on object avoidance according to Object Avoidance with Dijkstra’s

I’m using Copter, set the param

    1. OA_TYPE = 2
    1. OA_MARGIN_MAX = 10
    1. FENCE_ENABLE = 1

Then I draw the fence in the map like the video shows(using Fence->Draw in map). But when I trying to fly(using Fly To in map), the copter just fly through the fence. And the console reports AP: Dijkstra: overlapping polygon points

image
image1920×1161 234 KB

It’s maybe a very dumb question, but it confuse me for quite a long time, I’m unfamiliar with the basic operation with SITL,

Any suggestions is highly appreciated.

Thanks!!!