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Copter: arming check ignores proximity if avoidance disabled

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This commit is contained in:
Randy Mackay 2016-12-20 15:06:22 +09:00
parent e7f2c9870a
commit dbbf6cae5c
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/arming_checks.cpp
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@ -620,9 +620,9 @@ bool Copter::pre_arm_proximity_check(bool display_failure)
return false; return false;
} }
// get closest object // get closest object if we might use it for avoidance
float angle_deg, distance; float angle_deg, distance;
if (g2.proximity.get_closest_object(angle_deg, distance)) { if (avoid.proximity_avoidance_enabled() && g2.proximity.get_closest_object(angle_deg, distance)) {
// display error if something is within 60cm // display error if something is within 60cm
if (distance <= 0.6f) { if (distance <= 0.6f) {
if (display_failure) { if (display_failure) {