From 3ec40a5956d5ed4c0bf57f2d1ff19eb8021ea3d2 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 4 May 2021 11:32:35 -0400
Subject: [PATCH] collision_prevention: fix CP_GO_NO_DATA parameter type

---
 src/lib/collision_prevention/CollisionPrevention.cpp      | 2 +-
 src/lib/collision_prevention/CollisionPrevention.hpp      | 2 +-
 src/lib/collision_prevention/collisionprevention_params.c | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
index 32f6d28c26..6a4cfb723c 100644
--- a/src/lib/collision_prevention/CollisionPrevention.cpp
+++ b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -389,7 +389,7 @@ CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint, const Vec
 	// read parameters
 	const float col_prev_d = _param_cp_dist.get();
 	const float col_prev_dly = _param_cp_delay.get();
-	const bool move_no_data = _param_cp_go_nodata.get() > 0;
+	const bool move_no_data = _param_cp_go_nodata.get();
 	const float xy_p = _param_mpc_xy_p.get();
 	const float max_jerk = _param_mpc_jerk_max.get();
 	const float max_accel = _param_mpc_acc_hor.get();
diff --git a/src/lib/collision_prevention/CollisionPrevention.hpp b/src/lib/collision_prevention/CollisionPrevention.hpp
index 24a1ebbf0e..aaff04e2cb 100644
--- a/src/lib/collision_prevention/CollisionPrevention.hpp
+++ b/src/lib/collision_prevention/CollisionPrevention.hpp
@@ -145,7 +145,7 @@ private:
 		(ParamFloat<px4::params::CP_DIST>) _param_cp_dist, /**< collision prevention keep minimum distance */
 		(ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, /**< delay of the range measurement data*/
 		(ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, /**< collision prevention change setpoint angle */
-		(ParamFloat<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, /**< movement allowed where no data*/
+		(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, /**< movement allowed where no data*/
 		(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, /**< p gain from position controller*/
 		(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, /**< vehicle maximum jerk*/
 		(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor /**< vehicle maximum horizontal acceleration*/
diff --git a/src/lib/collision_prevention/collisionprevention_params.c b/src/lib/collision_prevention/collisionprevention_params.c
index 18adca0ac0..b573abff1f 100644
--- a/src/lib/collision_prevention/collisionprevention_params.c
+++ b/src/lib/collision_prevention/collisionprevention_params.c
@@ -83,4 +83,4 @@ PARAM_DEFINE_FLOAT(CP_GUIDE_ANG, 30.f);
  * @boolean
  * @group Multicopter Position Control
  */
-PARAM_DEFINE_FLOAT(CP_GO_NO_DATA, 0);
+PARAM_DEFINE_INT32(CP_GO_NO_DATA, 0);