Position mode


My tricopter build is flying fine in manual mode but I’m unable to switch to position mode. No error appears when I try to engage it which is very odd. I do my tests where I have a 3D lock on the drone.

I tried to see if disabling the GPS in the EKF2_AID_MASK helps but unfortunately it doesn’t.

The lights on the GPS are blue which indicates no GPS lock. When I try to switch to position mode, the GPS lights flash red but I get no error. Has anyone an idea what I’m doing wrong?

Best regards,


Found the problem, position mode can only be engaged if a valid sensor input is detected. I had an HEREFLOW camera connected in the wrong port on my board and my EKF2_AID_MASK was set to GPS and Optical Flow, which was preventing me from switching to position mode.

Being outside, with EKF2_AID_MASK set to GPS only works perfectly!