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SkyDemon will warn you about an obstacle if by the time you get there, with your current trajectory (including vertical) you would be below a safe height above it, simple as that.
As others have said, it would be worth checking the virtual radar or your GPS altitude when this happens so you can get a feel for why it's happening. You may also wish to reduce the time-to-threat required to trigger the warning, which is set at three minutes by default.
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