From 5c7cc9b88e18be88723bd45570ee79e7e142d0d0 Mon Sep 17 00:00:00 2001
From: Marco Hauswirth <58551738+haumarco@users.noreply.github.com>
Date: Mon, 18 May 2026 17:51:55 +0200
Subject: [PATCH] fix(commander): Only require a heading reference when a
 global origin is set (#27371)

---
 .../commander/HealthAndArmingChecks/checks/estimatorCheck.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
index dc36c35974..8a29b0a2b2 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
@@ -628,9 +628,11 @@ void EstimatorChecks::checkEstimatorStatusFlags(const Context &context, Report &
 			}
 		}
 
+		// Only require a heading reference when a global origin is set (i.e. global ops are intended)
 		if (!context.isArmed()
 		    && (hrt_absolute_time() - estimator_status_flags.timestamp < 5_s)
-		    && !estimator_status_flags.cs_yaw_align) {
+		    && !estimator_status_flags.cs_yaw_align
+		    && lpos.xy_global) {
 
 			const NavModes heading_required_groups = (NavModes)(
 						reporter.failsafeFlags().mode_req_local_position |