mirror of https://github.com/ArduPilot/ardupilot
AC_Avoidance: handle upward proximity enable and disable
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@ -390,7 +390,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
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// get distance from proximity sensor
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float proximity_alt_diff;
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AP_Proximity *proximity = AP::proximity();
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if (proximity && proximity->get_upward_distance(proximity_alt_diff)) {
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if (proximity && _proximity_enabled && proximity->get_upward_distance(proximity_alt_diff)) {
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proximity_alt_diff -= _margin;
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if (!limit_alt || proximity_alt_diff < alt_diff) {
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alt_diff = proximity_alt_diff;
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