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docs/en/computer_vision/collision_prevention.md
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@@ -60,7 +60,7 @@ Configure collision prevention by [setting the following parameters](../advanced
| <a id="CP_DELAY"></a>[CP_DELAY](../advanced_config/parameter_reference.md#CP_DELAY) | Set the sensor and velocity setpoint tracking delay. See [Delay Tuning](#delay_tuning) below. |
| <a id="CP_GUIDE_ANG"></a>[CP_GUIDE_ANG](../advanced_config/parameter_reference.md#CP_GUIDE_ANG) | Set the angle (to both sides of the commanded direction) within which the vehicle may deviate if it finds fewer obstacles in that direction. See [Guidance Tuning](#angle_change_tuning) below. |
| <a id="CP_GO_NO_DATA"></a>[CP_GO_NO_DATA](../advanced_config/parameter_reference.md#CP_GO_NO_DATA) | Set to 1 to allow the vehicle to move in directions where there is no sensor coverage (default is 0/`False`). |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Must be set to `Acceleration based`. |
| <a id="MPC_POS_MODE"></a>[MPC_POS_MODE](../advanced_config/parameter_reference.md#MPC_POS_MODE) | Must be set to `Acceleration based`. |
## Algorithm Description
@@ -213,7 +213,6 @@ The steps are:
3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
In the **Script Editor** tab, add following scripts in the appropriate sections:
- **Global code, executed once:**
```lua