From 1e0c56b5b94d47a93f3f8db87c10dedda6de6180 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 9 Mar 2024 13:35:25 +1100
Subject: [PATCH] APM_Control: move AC_Avoidance defines into libraries

---
 libraries/APM_Control/AR_PosControl.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/APM_Control/AR_PosControl.cpp b/libraries/APM_Control/AR_PosControl.cpp
index b6f6fe15ac..194c2e95c4 100644
--- a/libraries/APM_Control/AR_PosControl.cpp
+++ b/libraries/APM_Control/AR_PosControl.cpp
@@ -154,6 +154,7 @@ void AR_PosControl::update(float dt)
 
     // Limit the velocity to prevent fence violations
     bool backing_up = false;
+#if AP_AVOIDANCE_ENABLED
     AC_Avoid *avoid = AP::ac_avoid();
     if (avoid != nullptr) {
         Vector3f vel_3d_cms{_vel_target.x * 100.0f, _vel_target.y * 100.0f, 0.0f};
@@ -162,6 +163,7 @@ void AR_PosControl::update(float dt)
         _vel_target.x = vel_3d_cms.x * 0.01;
         _vel_target.y = vel_3d_cms.y * 0.01;
     }
+#endif  // AP_AVOIDANCE_ENABLED
 
     // calculate limit vector based on steering limits
     Vector2f steering_limit_vec;