mirror of https://github.com/ArduPilot/ardupilot
21 lines
582 B
C++
21 lines
582 B
C++
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#include "Copter.h"
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// check if proximity type Simple Avoidance should be enabled based on alt
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void Copter::low_alt_avoidance()
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{
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#if AC_AVOID_ENABLED == ENABLED
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int32_t alt_cm;
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if (!get_rangefinder_height_interpolated_cm(alt_cm)) {
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// enable avoidance if we don't have a valid rangefinder reading
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avoid.proximity_alt_avoidance_enable(true);
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return;
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}
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bool enable_avoidance = true;
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if (alt_cm < avoid.get_min_alt() * 100.0f) {
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enable_avoidance = false;
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}
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avoid.proximity_alt_avoidance_enable(enable_avoidance);
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#endif
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}
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