fix: Add fallback to GUIDED mode if GUIDED_NOGPS is unavailable when GPS is denied.

2026-01-07 21:12:37 +00:00
parent a417c52116
commit f0a95e825b
1 changed files with 4 additions and 1 deletions
--- 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")