fix wrong if clause

src/lib/CollisionPrevention/CollisionPrevention.cpp

@@ -77,7 +77,8 @@ void CollisionPrevention::calculate_constrained_setpoint(Vector2f &setpoint, con
 	//Limit the deviation of the adapted setpoint from the originally given joystick input (slightly less than 90 degrees)
 	float max_slide_angle_rad = 1.2f;
 
-	if (hrt_elapsed_time(&obstacle_distance.timestamp) < RANGE_STREAM_TIMEOUT_US && setpoint_length > 0.001f) {
+	if (hrt_elapsed_time(&obstacle_distance.timestamp) < RANGE_STREAM_TIMEOUT_US) {
+		if (setpoint_length > 0.001f) {
 
 			int distances_array_size = sizeof(obstacle_distance.distances) / sizeof(obstacle_distance.distances[0]);
 
@@ -132,6 +133,7 @@ void CollisionPrevention::calculate_constrained_setpoint(Vector2f &setpoint, con
 			} else {
 				setpoint.zero();
 			}
+		}
 
 	} else if (_last_message + MESSAGE_THROTTLE_US < hrt_absolute_time()) {
 		mavlink_log_critical(&_mavlink_log_pub, "No range data received");