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-rw-r--r--digital/ai/src/move/radar.c5
-rw-r--r--digital/ai/src/move/radar.h4
2 files changed, 5 insertions, 4 deletions
diff --git a/digital/ai/src/move/radar.c b/digital/ai/src/move/radar.c
index a572afba..7b9ef711 100644
--- a/digital/ai/src/move/radar.c
+++ b/digital/ai/src/move/radar.c
@@ -38,9 +38,6 @@
/** Define radar configuration. */
extern struct radar_sensor_t radar_sensors[RADAR_SENSOR_NB];
-uint8_t
-radar_valid (vect_t p);
-
/** Compute the center position from several radars sensors, return 1 if
* any. */
static uint8_t
@@ -89,7 +86,7 @@ radar_update (const position_t *robot_pos, vect_t *obs_pos)
vect_from_polar_uf016 (&ray, dist_mm[i],
robot_pos->a + radar_sensors[i].a);
vect_translate (&hit[i], &ray);
- valid[i] = radar_valid (hit[i]);
+ valid[i] = radar_valid (hit[i], i);
vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_EDGE_RADIUS_MM,
robot_pos->a + radar_sensors[i].a);
vect_translate (&hit[i], &ray);
diff --git a/digital/ai/src/move/radar.h b/digital/ai/src/move/radar.h
index 2e37d11d..b9ebc7e1 100644
--- a/digital/ai/src/move/radar.h
+++ b/digital/ai/src/move/radar.h
@@ -93,4 +93,8 @@ uint8_t
radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
const vect_t *obs_pos, uint8_t obs_nb);
+/** Define exclusion area (considered as invalid point). */
+uint8_t
+radar_valid (vect_t p, uint8_t sensor);
+
#endif /* radar_h */