From 6f5c97f184fe5c51a9585cd850c341cbe8e729c9 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Mon, 1 Apr 2019 10:21:33 +0200 Subject: [PATCH] ObstacleAvoidance: do not check for loiter nav state twice --- src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp index 9872db5836..8cd6734d10 100644 --- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp +++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp @@ -97,9 +97,8 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel > TRAJECTORY_STREAM_TIMEOUT_US; const bool avoidance_point_valid = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true; - const bool is_loitering = _sub_vehicle_status->get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER; - if ((avoidance_data_timeout || !avoidance_point_valid) && !is_loitering) { + if (avoidance_data_timeout || !avoidance_point_valid) { PX4_WARN("Obstacle Avoidance system failed, loitering"); _publishVehicleCmdDoLoiter(); return;