From 0056827698c42d278f9c485df471aeaafa97c2e7 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Tue, 22 Jul 2025 17:44:46 +0200
Subject: [PATCH] fake position_invalid_relaxed

---
 .../HealthAndArmingChecks/checks/estimatorCheck.cpp       | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 2b90f78c84..82ea8e1f89 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -743,6 +743,14 @@ void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_f
 		!checkPosVelValidity(now, xy_valid, lpos.eph, lpos_eph_threshold_relaxed, lpos.timestamp,
 				     _last_lpos_relaxed_fail_time_us, !failsafe_flags.local_position_invalid_relaxed);
 
+	// !!! Hack for reproducing failure, remove before merge !!!
+	// In nav_state 18 (auto land), pretend to have valid relaxed local pos.
+	if (context.status().nav_state == 18) {
+		// happens anyway when EKF2_GPS_CTRL=0
+		// failsafe_flags.local_position_invalid = true;
+		failsafe_flags.local_position_invalid_relaxed = false;
+	}
+
 	failsafe_flags.local_velocity_invalid =
 		!checkPosVelValidity(now, v_xy_valid, lpos.evh, _param_com_vel_fs_evh.get(), lpos.timestamp,
 				     _last_lvel_fail_time_us, !failsafe_flags.local_velocity_invalid);