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Copter: correct compilation when avoidance disabled

This commit is contained in:
Peter Barker 2019-11-01 09:43:16 +11:00 committed by Randy Mackay
parent d1c2e0017e
commit d4438f0a1c
1 changed files with 2 additions and 0 deletions
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2
ArduCopter/surface_tracking.cpp
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@ -39,11 +39,13 @@ float Copter::SurfaceTracking::adjust_climb_rate(float target_rate)
}
valid_for_logging = true;
#if AC_AVOID_ENABLED == ENABLED
// upward facing terrain following never gets closer than avoidance margin
if (surface == Surface::CEILING) {
const float margin_cm = copter.avoid.enabled() ? copter.avoid.get_margin() * 100.0f : 0.0f;
target_dist_cm = MAX(target_dist_cm, margin_cm);
}
#endif
// calc desired velocity correction from target rangefinder alt vs actual rangefinder alt (remove the error already passed to Altitude controller to avoid oscillations)
const float distance_error = (target_dist_cm - rf_state.alt_cm) - (dir * current_alt_error);