t->finalHeading = target2final_heading(move_target->heading);
if (t->prepare(future_traj_point)) {
- if (obstackle_in_front_if_turn(t))
+ if (robot.obstacle_avoidance_enabled && obstackle_in_front_if_turn(t))
ret = TARGET_INACC;
else {
if (start_in_future) {