diff --git a/src/drone_controller.py b/src/drone_controller.py
index 1628772..46139b7 100644
--- a/src/drone_controller.py
+++ b/src/drone_controller.py
@@ -278,7 +278,10 @@ def main():
         # Configure for GPS-denied if needed
         if not args.gps:
             drone.setup_gps_denied()
-            drone.set_mode("GUIDED_NOGPS")
+            # Try GUIDED_NOGPS first (ArduCopter), fallback to GUIDED
+            if not drone.set_mode("GUIDED_NOGPS"):
+                print("[INFO] GUIDED_NOGPS not available, using GUIDED")
+                drone.set_mode("GUIDED")
         else:
             drone.set_mode("GUIDED")