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AC_Avoidance: correct compilation when fence and beacon compiled out

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Peter Barker 2023-04-09 23:25:21 +10:00 committed by Peter Barker
parent ff21f86a9c
commit 4f355f7c8b
1 changed files with 3 additions and 1 deletions
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4
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -126,9 +126,11 @@ void AC_Avoid::adjust_velocity_fence(float kP, float accel_cmss, Vector3f &desir
{
// Only horizontal component needed for most fences, since fences are 2D
Vector2f desired_velocity_xy_cms{desired_vel_cms.x, desired_vel_cms.y};
#if AP_FENCE_ENABLED || AP_BEACON_ENABLED
// limit acceleration
const float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX);
#endif
// maximum component of desired backup velocity in each quadrant
Vector2f quad_1_back_vel, quad_2_back_vel, quad_3_back_vel, quad_4_back_vel;