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Sub: loiter-turn obeys wpnav-rfnd-use

This commit is contained in:
Randy Mackay 2020-04-09 14:09:48 +09:00
parent c0ac4bb51c
commit 6d05ed1eb3
1 changed files with 1 additions and 1 deletions
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2
ArduSub/sensors.cpp
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@ -56,7 +56,7 @@ void Sub::read_rangefinder()
// send rangefinder altitude and health to waypoint navigation library
wp_nav.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
circle_nav.set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
circle_nav.set_rangefinder_alt(rangefinder_state.enabled && wp_nav.rangefinder_used(), rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());
#else
rangefinder_state.enabled = false;