Merge branch 'main' into pr-commander-enable-low-eph-failsafe-posctrl-main

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/commander/commander_params.c

@@ -941,7 +941,7 @@ PARAM_DEFINE_FLOAT(COM_POS_LOW_EPH, -1.0f);
  *
  * Action the system takes when the estimated position has an accuracy below the specified threshold.
  * See COM_POS_LOW_EPH to set the failsafe threshold.
- * The failsafe action is only executed if the vehicle is in auto mission or auto loiter mode,
+ * The failsafe action is only executed if the vehicle is in Mission, Loiter or Manual Position mode
  * otherwise it is only a warning.
  *
  * @group Commander

src/modules/commander/failsafe/failsafe.cpp

@@ -531,7 +531,8 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 
 	// trigger Low Position Accuracy Failsafe (only in auto mission and auto loiter)
 	if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION ||
-	    state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
+	    state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER ||
+	    state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL) {
 		CHECK_FAILSAFE(status_flags, local_position_accuracy_low, fromPosLowActParam(_param_com_pos_low_act.get()));
 	}