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71f56df23b
The collision detection incorrectly used crosstrack_separation (horizontal radius) for both horizontal and vertical checks. This resulted in the vertical separation threshold being ignored, creating a spherical detection zone instead of the intended cylindrical "hockey puck" shape. Fixed by using vertical_separation parameter for altitude difference check on line 80. The bug was likely introduced as a copy-paste error when creating the vertical check from the horizontal check template. The existing unit test uses identical values for both parameters (500.0f), which masked this bug. Testing: Code review. The existing unit tests pass, but they don't catch this bug due to using equal values. Future test improvement would be to use different crosstrack_separation and vertical_separation values. Signed-off-by: Tobias Fenner <tobyrfenner@gmail.com>