Every time I enable OA_TYPE,1, RTL does not work. My copter rises to the RTL altitude but does not return, stays at the waypoint forever. After I set OA_TYPE back to 0, RTL works fine. I use one Radar Rangefinder facing front. Currently running Arducopter 4.0.5 . I use LOITER, AUTO and RTL on my flight modes. My radar readings show up perfectly in Mission Planner’s proximity viewer.
I tested with Cube Black and with versions of Arducopter 4.03, 4.0.4 and 4.0.5. All behave the same. Collision Radar works fine
RTL works fine in Simple Object Avoidance (Copter stops in front of obstacles).
What could be wrong for RTL not work with OA_TYPE,1?