From 75f744591e680ccdbad4322433670feab3a8a84f Mon Sep 17 00:00:00 2001 From: murata Date: Thu, 18 May 2017 19:40:16 +0900 Subject: [PATCH] AP_Avoidance: Change the determination place of the index value. --- libraries/AP_Avoidance/AP_Avoidance.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Avoidance/AP_Avoidance.cpp b/libraries/AP_Avoidance/AP_Avoidance.cpp index ed1ba52b3b..53948cdfdc 100644 --- a/libraries/AP_Avoidance/AP_Avoidance.cpp +++ b/libraries/AP_Avoidance/AP_Avoidance.cpp @@ -213,15 +213,15 @@ void AP_Avoidance::add_obstacle(const uint32_t obstacle_timestamp_ms, } else if (oldest_timestamp < obstacle_timestamp_ms) { // replace this very old entry with this new data index = oldest_index; + } else { + // no room for this (old?!) data + return; } + _obstacles[index].src = src; _obstacles[index].src_id = src_id; } - if (index == -1) { - // no room for this (old?!) data - return; - } _obstacles[index]._location = loc; _obstacles[index]._velocity = vel_ned; _obstacles[index].timestamp_ms = obstacle_timestamp_ms;