Quadcopter kept spinning but won't go further

ArduCopter Copter 4.0
1

Hello, everone! :waving_hand: I am working on object-avoidance copter with BendyRuler(vertical) in auto mode recently, on my real flight experiment, the copter would not go further but just spinning, as if it was hesitating where to go. It happened from time to time. Environment related I guess.
I have read the code AP_OABendyRuler.cpp but could not get the solution for the spinning. Can someone help me? Thanks a lot. :sparkling_heart:

Firmware: Copter-4.6.2
Flight Controller: Pixhawk 6c mini
Object-avoidance method: vertical BendyRuler
Object-avoidance related paramters:
OA_BR_CONT_ANGLE,75
OA_BR_CONT_RATIO,1.5
OA_BR_LOOKAHEAD,10
OA_BR_TYPE,2
OA_DB_ALT_MIN,0
OA_DB_BEAM_WIDTH,5
OA_DB_DIST_MAX,0
OA_DB_EXPIRE,10
OA_DB_OUTPUT,3
OA_DB_QUEUE_SIZE,80
OA_DB_RADIUS_MIN,0.01
OA_DB_SIZE,100
OA_MARGIN_MAX,4
OA_OPTIONS,1
OA_TYPE,1

Experiment video:https://youtu.be/WcOL2EVchdw

2

Share the .bin log for the flight.

3

Thanks for reply, Allister. :smiley: The file is too big to upload. This is the link to the bin file:https://drive.google.com/file/d/1GJe0reIxxf-eD0Z_x9X0_hCZdzAEANHK/view?usp=sharing

4

The download link needs a password. You’ll need to remove the password.