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APM_Control: move AC_Avoidance defines into libraries

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Peter Barker 2024-03-09 13:35:25 +11:00 committed by Peter Barker
parent 31eb340928
commit 1e0c56b5b9
1 changed files with 2 additions and 0 deletions
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2
libraries/APM_Control/AR_PosControl.cpp
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@ -154,6 +154,7 @@ void AR_PosControl::update(float dt)
// Limit the velocity to prevent fence violations // Limit the velocity to prevent fence violations
bool backing_up = false; bool backing_up = false;
#if AP_AVOIDANCE_ENABLED
AC_Avoid *avoid = AP::ac_avoid(); AC_Avoid *avoid = AP::ac_avoid();
if (avoid != nullptr) { if (avoid != nullptr) {
Vector3f vel_3d_cms{_vel_target.x * 100.0f, _vel_target.y * 100.0f, 0.0f}; 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.x = vel_3d_cms.x * 0.01;
_vel_target.y = vel_3d_cms.y * 0.01; _vel_target.y = vel_3d_cms.y * 0.01;
} }
#endif // AP_AVOIDANCE_ENABLED
// calculate limit vector based on steering limits // calculate limit vector based on steering limits
Vector2f steering_limit_vec; Vector2f steering_limit_vec;