From f0a95e825b5b582f3ccbda958771a8f1832ee060 Mon Sep 17 00:00:00 2001 From: default Date: Wed, 7 Jan 2026 21:12:37 +0000 Subject: [PATCH] fix: Add fallback to GUIDED mode if GUIDED_NOGPS is unavailable when GPS is denied. --- src/drone_controller.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) 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")