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AP_Avoidance: Change the determination place of the index value.

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murata 2017-05-18 19:40:16 +09:00 committed by Francisco Ferreira
parent c7a89d5aa0
commit 75f744591e
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_Avoidance/AP_Avoidance.cpp
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@ -213,15 +213,15 @@ void AP_Avoidance::add_obstacle(const uint32_t obstacle_timestamp_ms,
} else if (oldest_timestamp < obstacle_timestamp_ms) { } else if (oldest_timestamp < obstacle_timestamp_ms) {
// replace this very old entry with this new data // replace this very old entry with this new data
index = oldest_index; index = oldest_index;
} else {
// no room for this (old?!) data
return;
} }
_obstacles[index].src = src; _obstacles[index].src = src;
_obstacles[index].src_id = src_id; _obstacles[index].src_id = src_id;
} }
if (index == -1) {
// no room for this (old?!) data
return;
}
_obstacles[index]._location = loc; _obstacles[index]._location = loc;
_obstacles[index]._velocity = vel_ned; _obstacles[index]._velocity = vel_ned;
_obstacles[index].timestamp_ms = obstacle_timestamp_ms; _obstacles[index].timestamp_ms = obstacle_timestamp_ms;