Multicopter not holding position with collision avoidance enabled

I am trying to enable collision avoidance on my quadcopter. My setup consists of a radar sensor connected to a microcontroller which sends obstacle distance messages via MAVLINK to the flight controller.

I have been struggling to get the system to work properly, so I disconnected the microcontroller from the flight controller. The expected system behavior was for the system to be incapable of moving in any direction due to the lack of obstacle distance messages. The observed behavior was that the system was able to move in an unrestricted way. The quadcopter was flying in position mode with CP_DIST set to 2.

Here is my flight log:

Any tips or assistance would be appreciated! Thanks.

Resolved: It seems that according to the posts linked below, collision avoidance currently only works when MPC_POS_MODE is set to 3.