From 704c05c42872e3a33364a460a66bf82bae4faee8 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 3 Feb 2026 10:35:34 +1300
Subject: [PATCH] navigator: add to lockstep

This is an attempt to get the SIH CI tests more consistent.
---
 src/modules/navigator/navigator_main.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index b07d92c176..7caecc475a 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -195,6 +195,9 @@ void Navigator::run()
 			continue;
 		}
 
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+		int lockstep_component = px4_lockstep_register_component();
+#endif
 		perf_begin(_loop_perf);
 
 		orb_copy(ORB_ID(vehicle_local_position), _local_pos_sub, &_local_pos);
@@ -933,6 +936,10 @@ void Navigator::run()
 		_geofence.run();
 
 		perf_end(_loop_perf);
+
+#if defined(ENABLE_LOCKSTEP_SCHEDULER)
+		px4_lockstep_unregister_component(lockstep_component);
+#endif
 	}
 }