A stuck lense is almost certainly the problem. I have had this model camera from new, so 10+ years, and today it started with the"turn the camera off and on again" message. I followed another guide as to how to fix it but nothing worked. In desperation I laid a soft cloth on the worktop and gave the camera a couple of gentle taps on the cloth, power off and lense facing down. Hey presto! when I powered the camera on the lense extended and all is working again.