From 17af4c89334751ba1b957823d74f5124b429e26c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 10 Dec 2018 11:43:43 +0900
Subject: [PATCH] Rover: enable avoidance in auto, RTL, smartRTL

---
 APMrover2/mode_auto.cpp      | 4 ++--
 APMrover2/mode_rtl.cpp       | 2 +-
 APMrover2/mode_smart_rtl.cpp | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index e7ef862287..7c0f256b5b 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -53,7 +53,7 @@ void ModeAuto::update()
             if (!_reached_destination || (rover.is_boat() && !near_wp)) {
                 // continue driving towards destination
                 calc_steering_to_waypoint(_reached_destination ? rover.current_loc : _origin, _destination, _reversed);
-                calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false);
+                calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
             } else {
                 // we have reached the destination so stop
                 stop_vehicle();
@@ -66,7 +66,7 @@ void ModeAuto::update()
             if (!_reached_heading) {
                 // run steering and throttle controllers
                 calc_steering_to_heading(_desired_yaw_cd);
-                calc_throttle(_desired_speed, true, false);
+                calc_throttle(_desired_speed, true, true);
                 // check if we have reached within 5 degrees of target
                 _reached_heading = (fabsf(_desired_yaw_cd - ahrs.yaw_sensor) < 500);
             } else {
diff --git a/APMrover2/mode_rtl.cpp b/APMrover2/mode_rtl.cpp
index afeec521ae..6ba23ef4b7 100644
--- a/APMrover2/mode_rtl.cpp
+++ b/APMrover2/mode_rtl.cpp
@@ -37,7 +37,7 @@ void ModeRTL::update()
     if (!_reached_destination || (rover.is_boat() && !near_wp)) {
         // continue driving towards destination
         calc_steering_to_waypoint(_reached_destination ? rover.current_loc :_origin, _destination, _reversed);
-        calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false);
+        calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
     } else {
         // we've reached destination so stop
         stop_vehicle();
diff --git a/APMrover2/mode_smart_rtl.cpp b/APMrover2/mode_smart_rtl.cpp
index 295385a143..56a6597810 100644
--- a/APMrover2/mode_smart_rtl.cpp
+++ b/APMrover2/mode_smart_rtl.cpp
@@ -65,7 +65,7 @@ void ModeSmartRTL::update()
             }
             // continue driving towards destination
             calc_steering_to_waypoint(_origin, _destination, _reversed);
-            calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false);
+            calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
             break;
 
         case SmartRTL_StopAtHome:
@@ -74,7 +74,7 @@ void ModeSmartRTL::update()
             if (rover.is_boat()) {
                 // boats attempt to hold position at home
                 calc_steering_to_waypoint(rover.current_loc, _destination, _reversed);
-                calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, false);
+                calc_throttle(calc_reduced_speed_for_turn_or_distance(_reversed ? -_desired_speed : _desired_speed), true, true);
             } else {
                 // rovers stop
                 stop_vehicle();