From 4733f571027d6f1f3b7569f3d4348164938015ec Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 5 Jan 2022 21:26:39 +1100
Subject: [PATCH] RC_Channel: don't use avoidance on plane

---
 libraries/RC_Channel/RC_Channel.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index cdfdd80598..f1a03e1d47 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -46,6 +46,7 @@ extern const AP_HAL::HAL& hal;
 #include <AP_Mount/AP_Mount.h>
 #include <AP_VideoTX/AP_VideoTX.h>
 #include <AP_Torqeedo/AP_Torqeedo.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #define SWITCH_DEBOUNCE_TIME_MS  200
 
@@ -689,6 +690,7 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
 
 void RC_Channel::do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag)
 {
+#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
     AC_Avoid *avoid = AP::ac_avoid();
     if (avoid == nullptr) {
         return;
@@ -705,6 +707,7 @@ void RC_Channel::do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag)
         avoid->proximity_avoidance_enable(false);
         break;
     }
+#endif // !APM_BUILD_ArduPlane
 }
 
 void RC_Channel::do_aux_function_camera_trigger(const AuxSwitchPos ch_flag)