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AC_Avoid: confirm USE_PROXIMITY_SENSOR to check if proximity is enabled

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Tatsuya Yamaguchi 2021-07-31 23:04:01 +09:00 committed by Randy Mackay
parent 19a9e1a416
commit 04deabbacb
2 changed files with 2 additions and 2 deletions
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2
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -390,7 +390,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
// get distance from proximity sensor // get distance from proximity sensor
float proximity_alt_diff; float proximity_alt_diff;
AP_Proximity *proximity = AP::proximity(); AP_Proximity *proximity = AP::proximity();
if (proximity && _proximity_enabled && proximity->get_upward_distance(proximity_alt_diff)) { if (proximity && proximity_avoidance_enabled() && proximity->get_upward_distance(proximity_alt_diff)) {
proximity_alt_diff -= _margin; proximity_alt_diff -= _margin;
if (!limit_alt || proximity_alt_diff < alt_diff) { if (!limit_alt || proximity_alt_diff < alt_diff) {
alt_diff = proximity_alt_diff; alt_diff = proximity_alt_diff;

2
libraries/AC_Avoidance/AC_Avoid.h
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@ -81,7 +81,7 @@ public:
// enable/disable proximity based avoidance // enable/disable proximity based avoidance
void proximity_avoidance_enable(bool on_off) { _proximity_enabled = on_off; } void proximity_avoidance_enable(bool on_off) { _proximity_enabled = on_off; }
bool proximity_avoidance_enabled() const { return _proximity_enabled; } bool proximity_avoidance_enabled() const { return (_proximity_enabled && (_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) > 0); }
void proximity_alt_avoidance_enable(bool on_off) { _proximity_alt_enabled = on_off; } void proximity_alt_avoidance_enable(bool on_off) { _proximity_alt_enabled = on_off; }
// helper functions // helper functions