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AC_Avoid: Remove sensor status checks

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rishabsingh3003 2024-03-04 17:05:01 -05:00 committed by Andrew Tridgell
parent 0efe4351f1
commit d91147552b
1 changed files with 0 additions and 11 deletions
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11
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -1139,10 +1139,6 @@ void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector3f &d
} }
AP_Proximity &_proximity = *proximity; AP_Proximity &_proximity = *proximity;
// check for status of the sensor
if (_proximity.get_status() != AP_Proximity::Status::Good) {
return;
}
// get total number of obstacles // get total number of obstacles
const uint8_t obstacle_num = _proximity.get_obstacle_count(); const uint8_t obstacle_num = _proximity.get_obstacle_count();
if (obstacle_num == 0) { if (obstacle_num == 0) {
@ -1434,14 +1430,7 @@ void AC_Avoid::get_proximity_roll_pitch_pct(float &roll_positive, float &roll_ne
return; return;
} }
AP_Proximity &_proximity = *proximity; AP_Proximity &_proximity = *proximity;
// exit immediately if proximity sensor is not present
if (_proximity.get_status() != AP_Proximity::Status::Good) {
return;
}
const uint8_t obj_count = _proximity.get_object_count(); const uint8_t obj_count = _proximity.get_object_count();
// if no objects return // if no objects return
if (obj_count == 0) { if (obj_count == 0) {
return; return;