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AC_Avoidance: handle upward proximity enable and disable

This commit is contained in:
Tatsuya Yamaguchi 2021-07-30 09:17:29 +09:00 committed by Andrew Tridgell
parent 8674409986
commit ca5d307001
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -390,7 +390,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
// get distance from proximity sensor // get distance from proximity sensor
float proximity_alt_diff; float proximity_alt_diff;
AP_Proximity *proximity = AP::proximity(); 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; proximity_alt_diff -= _margin;
if (!limit_alt || proximity_alt_diff < alt_diff) { if (!limit_alt || proximity_alt_diff < alt_diff) {
alt_diff = proximity_alt_diff; alt_diff = proximity_alt_diff;