From ca5d307001cd4769dd15f6cd6af6ffaeeb2b65b8 Mon Sep 17 00:00:00 2001
From: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
Date: Fri, 30 Jul 2021 09:17:29 +0900
Subject: [PATCH] AC_Avoidance: handle upward proximity enable and disable

---
 libraries/AC_Avoidance/AC_Avoid.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AC_Avoidance/AC_Avoid.cpp b/libraries/AC_Avoidance/AC_Avoid.cpp
index 46596e069f..63060052aa 100644
--- a/libraries/AC_Avoidance/AC_Avoid.cpp
+++ b/libraries/AC_Avoidance/AC_Avoid.cpp
@@ -390,7 +390,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
     // get distance from proximity sensor
     float proximity_alt_diff;
     AP_Proximity *proximity = AP::proximity();
-    if (proximity && proximity->get_upward_distance(proximity_alt_diff)) {
+    if (proximity && _proximity_enabled && proximity->get_upward_distance(proximity_alt_diff)) {
         proximity_alt_diff -= _margin;
         if (!limit_alt || proximity_alt_diff < alt_diff) {
             alt_diff = proximity_alt_diff;