Rotation in yaw when entering AUTO.LAND

[sibujacob]

I see that during landing the drone shifts to position mode and then to land mode again. Do you get GPS from ground position or can you take off the drone using position mode becos for position mode to be active you require GPS .

Edit-1 Also please check this post …may be related …

Why does drone suddenly switch AUTO.LAND mode from offboard mode when descending? (Failsafe enabled: no offboard)

Thank you very much for your help. Is there any min height setting in QGroundControl, which will trigger the AUTO.LAND mode? During my offboard control descending, the drone suddenly switch to AUTO.LAND mode from offboard mode. I am confused about that and the unexpected switch mode makes the programmed descending drone has a unexpected spike, like the video at 1:47 There is the Pixhawk log and the screenshot of the distance sensor. [image] At the time stamp: from 1686240419 to 1686240…