From db8a1f11a742d265e64952bdcb8ccc932b60c4d4 Mon Sep 17 00:00:00 2001
From: Silvan <silvan@auterion.com>
Date: Fri, 12 Sep 2025 10:17:43 +0200
Subject: [PATCH] EstimatorCheck: fix reporting of low position accuracy
 failsafe

Signed-off-by: Silvan <silvan@auterion.com>
---
 .../commander/HealthAndArmingChecks/checks/estimatorCheck.cpp  | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index 2b90f78c84..60b922bd18 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -621,8 +621,7 @@ void EstimatorChecks::lowPositionAccuracy(const Context &context, Report &report
 		position_valid_but_low_accuracy = (_param_com_low_eph.get() > FLT_EPSILON && lpos.eph > _param_com_low_eph.get());
 	}
 
-	if (!reporter.failsafeFlags().position_accuracy_low && position_valid_but_low_accuracy
-	    && _param_com_pos_low_act.get()) {
+	if (position_valid_but_low_accuracy && _param_com_pos_low_act.get()) {
 
 		// only report if armed
 		if (context.isArmed()) {