Offboard Engages without Having the 2Hz Setpoint Stream

Hello all,

I just wanted to make sure that the safety feature for engaging offboard mode has been modified. Yesterday I was working with gazebo SITL and realized I was switching to offboard mode without having the required 2Hz setpoint stream from companion computer. I would like some confirmation from others.

Did the developers added feature where we do not need to send stream of setpoints before switching to and staying in offboard mode? Vehicle holds its position even though there is no setpoint stream.

Thank you in advance!