From b6d133e285ecb6594032efccae1dfacbc8327a3c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Tue, 5 Jul 2022 16:38:28 +0900
Subject: [PATCH] AP_Proximity: reduce ignore areas to 4 per backend

---
 .../AP_Proximity/AP_Proximity_Params.cpp      | 32 -------------------
 libraries/AP_Proximity/AP_Proximity_Params.h  |  2 +-
 2 files changed, 1 insertion(+), 33 deletions(-)

diff --git a/libraries/AP_Proximity/AP_Proximity_Params.cpp b/libraries/AP_Proximity/AP_Proximity_Params.cpp
index 1cde62b3d2..af045c2b1b 100644
--- a/libraries/AP_Proximity/AP_Proximity_Params.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Params.cpp
@@ -92,38 +92,6 @@ const AP_Param::GroupInfo AP_Proximity_Params::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_IGN_WID4", 11, AP_Proximity_Params, ignore_width_deg[3], 0),
 
-    // @Param: _IGN_ANG5
-    // @DisplayName: Proximity sensor ignore angle 5
-    // @Description: Proximity sensor ignore angle 5
-    // @Units: deg
-    // @Range: 0 360
-    // @User: Standard
-    AP_GROUPINFO("_IGN_ANG5", 12, AP_Proximity_Params, ignore_angle_deg[4], 0),
-
-    // @Param: _IGN_WID5
-    // @DisplayName: Proximity sensor ignore width 5
-    // @Description: Proximity sensor ignore width 5
-    // @Units: deg
-    // @Range: 0 127
-    // @User: Standard
-    AP_GROUPINFO("_IGN_WID5", 13, AP_Proximity_Params, ignore_width_deg[4], 0),
-
-    // @Param: _IGN_ANG6
-    // @DisplayName: Proximity sensor ignore angle 6
-    // @Description: Proximity sensor ignore angle 6
-    // @Units: deg
-    // @Range: 0 360
-    // @User: Standard
-    AP_GROUPINFO("_IGN_ANG6", 14, AP_Proximity_Params, ignore_angle_deg[5], 0),
-
-    // @Param: _IGN_WID6
-    // @DisplayName: Proximity sensor ignore width 6
-    // @Description: Proximity sensor ignore width 6
-    // @Units: deg
-    // @Range: 0 127
-    // @User: Standard
-    AP_GROUPINFO("_IGN_WID6", 15, AP_Proximity_Params, ignore_width_deg[5], 0),
-
     // @Param: _MIN
     // @DisplayName: Proximity minimum range
     // @Description: Minimum expected range for Proximity Sensor. Setting this to 0 will set value to manufacturer reported range.
diff --git a/libraries/AP_Proximity/AP_Proximity_Params.h b/libraries/AP_Proximity/AP_Proximity_Params.h
index c69b72adcd..21c5ba6552 100644
--- a/libraries/AP_Proximity/AP_Proximity_Params.h
+++ b/libraries/AP_Proximity/AP_Proximity_Params.h
@@ -3,7 +3,7 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 
-#define PROXIMITY_MAX_IGNORE                6   // up to six areas can be ignored
+#define PROXIMITY_MAX_IGNORE                4   // up to six areas can be ignored
 
 class AP_Proximity_Params {