ardupilot/ArduCopter/avoidance.cpp

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