ArduCopter/avoidance.cpp

   1 #include "Copter.h"
   2
   3 // check if proximity type Simple Avoidance should be enabled based on alt
   4 void Copter::low_alt_avoidance()
   5 {
   6 #if AP_AVOIDANCE_ENABLED
   7     int32_t alt_cm;
   8     if (!get_rangefinder_height_interpolated_cm(alt_cm)) {
   9         // enable avoidance if we don't have a valid rangefinder reading
  10         avoid.proximity_alt_avoidance_enable(true);
  11         return;
  12     }
  13
  14     bool enable_avoidance = true;
  15     if (alt_cm < avoid.get_min_alt() * 100.0f) {
  16         enable_avoidance = false;
  17     }
  18     avoid.proximity_alt_avoidance_enable(enable_avoidance);
  19 #endif
  20 }