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docs: GNSS-Denied Configuration (#25955)

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Hamish Willee
2026-02-19 14:14:12 +11:00
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docs/en/flying/pre_flight_checks.md
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@@ -126,7 +126,11 @@ The following parameters also affect preflight checks.
#### COM_ARM_WO_GPS
The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed without a global position estimate.
The [COM_ARM_WO_GPS](../advanced_config/parameter_reference.md#COM_ARM_WO_GPS) parameter controls whether or not arming is allowed in modes that require a valid global position estimate when EKF2 GNSS quality checks are failing.
- `1` (default): Arming _is_ allowed without a position estimate for flight modes that do not require position information (only).
- `0`: Arming is allowed only if EKF is providing a global position estimate and EFK GPS quality checks are passing
The values are:
- `0`: Deny arming.
- `1`: Arming allowed with warning (default).
This might be used to provide a warning that the GNSS is unhealthy even when there is another source of valid position estimate, such as VIO or optical flow.
- `2`: Arming allowed without warnings.