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AP_Proximity: Use 3 sectors for simple avoidance boundary

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Rishabh 2021-02-11 13:07:51 +05:30 committed by Randy Mackay
parent 8cab737bdd
commit f107ce3951
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Proximity/AP_Proximity_Boundary_3D.cpp
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@ -189,11 +189,11 @@ bool AP_Proximity_Boundary_3D::convert_obstacle_num_to_face(uint8_t obstacle_num
face.sector = sector;
face.layer = layer;
uint8_t valid_sector = sector;
uint8_t valid_sector = sector;
// check for 3 adjacent sectors
for (uint8_t i=0; i < 2; i++) {
for (uint8_t i=0; i < 3; i++) {
if (_distance_valid[layer][valid_sector]) {
// update boundary has manipulated this face
// update boundary has manipulated this face
return true;
}
valid_sector = get_next_sector(valid_sector);