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Failsafe: enable low position failsafe also in Manual Position flight mode #24135

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Failsafe: enable low position failsafe also in Manual Position flight mode #24135

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2 changes: 1 addition & 1 deletion src/modules/commander/commander_params.c
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Expand Up @@ -935,7 +935,7 @@ PARAM_DEFINE_FLOAT(COM_POS_LOW_EPH, -1.0f);
*
* Action the system takes when the estimated position has an accuracy below the specified threshold.
* See COM_POS_LOW_EPH to set the failsafe threshold.
* The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode,
* The failsafe action is only executed if the vehicle is in Mission, Loiter or Manual Position mode
* otherwise it is only a warning.
*
* @group Commander
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3 changes: 2 additions & 1 deletion src/modules/commander/failsafe/failsafe.cpp
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Expand Up @@ -514,7 +514,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,

// trigger Low Position Accuracy Failsafe (only in auto mission and auto loiter)
if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER ||
state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL) {
CHECK_FAILSAFE(status_flags, local_position_accuracy_low, fromPosLowActParam(_param_com_pos_low_act.get()));
}

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