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AC_Avoid: use proximity_avoidance_enabled function

This commit is contained in:
Tatsuya Yamaguchi 2021-08-01 21:21:01 +09:00 committed by Randy Mackay
parent 04deabbacb
commit 43da962d34
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -194,7 +194,7 @@ void AC_Avoid::adjust_velocity(Vector3f &desired_vel_cms, bool &backing_up, floa
float back_vel_down = 0.0f; float back_vel_down = 0.0f;
// Avoidance in response to proximity sensor // Avoidance in response to proximity sensor
if ((_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) > 0 && _proximity_enabled && _proximity_alt_enabled) { if (proximity_avoidance_enabled() && _proximity_alt_enabled) {
// Store velocity needed to back away from physical obstacles // Store velocity needed to back away from physical obstacles
Vector3f backup_vel_proximity; Vector3f backup_vel_proximity;
adjust_velocity_proximity(kP, accel_cmss_limited, desired_vel_cms, backup_vel_proximity, kP_z,accel_cmss_z, dt); adjust_velocity_proximity(kP, accel_cmss_limited, desired_vel_cms, backup_vel_proximity, kP_z,accel_cmss_z, dt);
@ -421,7 +421,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
void AC_Avoid::adjust_roll_pitch(float &roll, float &pitch, float veh_angle_max) void AC_Avoid::adjust_roll_pitch(float &roll, float &pitch, float veh_angle_max)
{ {
// exit immediately if proximity based avoidance is disabled // exit immediately if proximity based avoidance is disabled
if ((_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) == 0 || !_proximity_enabled) { if (!proximity_avoidance_enabled()) {
return; return;
} }