Unable to move in Collision Prevention

I’m try to use Collision Prevention with OBSTACLE_DISTANCE message in PX4 v1.11

My custom board (System 254) sends OBSTACLE_DISTANCE dummy message and below is the message I received from QGC. (obstacle 5m, boresight)

Changed CP_DIST parameter to 3m and set to Position Mode.
However, muticopter can’t go forward

After changed CP_NO_DATA parameter to 1, muticopter can go except for the front direction.

Since I sent a higher value(5m) than CP_DIST(3m), I thought I should be able to fly forward, but I don’t know why.
Any help will be appreciated. Thanks.

@Jinhyeong-Lee You need MPC_POS_MODE 3

@Jaeyoung-Lim Thank you for reply,
But I’m already set MPC_POS_MODE 3(default in v1.11.3), and that issue relate PX4 v1.12.3 as far as I know.