From dcce9dffba8e17e4c390ac7ede730aba8fc8e87e Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 28 Apr 2018 13:54:25 +0900 Subject: [PATCH] Rover: remove redundant avoidance call from steering --- APMrover2/mode_steering.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/APMrover2/mode_steering.cpp b/APMrover2/mode_steering.cpp index 98a3526769..34fb2d6e1e 100644 --- a/APMrover2/mode_steering.cpp +++ b/APMrover2/mode_steering.cpp @@ -47,9 +47,6 @@ void ModeSteering::update() // mark us as in_reverse when using a negative throttle rover.set_reverse(reversed); - // apply object avoidance to desired speed using half vehicle's maximum acceleration/deceleration - rover.g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_accel_max(), ahrs.yaw, target_speed, rover.G_Dt); - // run lateral acceleration to steering controller calc_steering_from_lateral_acceleration(desired_lat_accel, reversed);