Sub: stop setting AC_Avoid in AC_WPNav; it uses singleton now

6 years ago · 4c4d37bd86
1 changed files with 0 additions and 5 deletions
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@ -118,11 +118,6 @@ void Sub::init_ardupilot()
				@@ -118,11 +118,6 @@ void Sub::init_ardupilot()
    wp_nav.set_terrain(&terrain);
 #endif

-#if AVOIDANCE_ENABLED == ENABLED
-    wp_nav.set_avoidance(&avoid);
-    loiter_nav.set_avoidance(&avoid);
-#endif
-
    pos_control.set_dt(MAIN_LOOP_SECONDS);

    // init the optical flow sensor