obstacle avoidance question?

[tgman]

I'm sorry if these questions have been asked before. I went flying tonight just about sundown and when I took off I was in a shaded area so not much light. The camera was not focusing well, but when I got it up in the sun it focused fine and I flew around for about 10 minutes. I know the sun has caused the OA to go off in the past but I wasn't having this problem today. Near the end of my flight (it was getting pretty dark just after sunset) and my camera would not focus and my OA triggered and wouldn't let me fly towards my home point. I kept cancelling the notification and finally got it back and landed safely.
1. Does the mavic use the main camera as a OA sensor?
2. What could have suddenly caused the mavic to be unable to focus? I pushed tap to focus several times but I didn't help. Did the "darkness" have anything to do with the cameras inability to focus?
thanks
tgman

 

[Plawa]

1, no, but the OA cameras also depend on good light conditions to work properly
2, yes, it has everything to do with it, Mavic uses contrast detection for focus so if there's no contrast in the scene of if it's too dark it will not be able to focus