GUIDED mode requirement

General Discussion
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5

Thank you for your explanation ! @EliotBR
I have another question, that is, when I switch to GUIDED mode in QGC, there will be an error in MAV_COM(176). I have sent location information to my rov through the GPS_INPUT message, and my robot also displays location in the QGC and GLOBAL_POSITION_INT message. EK3_SRC1_POSXY, EK3_SRC1_YVELXY has been set to GPS. Do I need to set other parameters? Or is it because my location information is missing some key factors？
Here is the sending location code:

def send_gps_input(master, lat, lon, hdop, fix_quality, numsats):
    try:
        time_usec = int(time.time() * 1e6)

        lat_int = int(lat * 1e7)
        lon_int = int(lon * 1e7)

        # GPS_INPUT_IGNORE_FLAGS
        ignore_flags = (mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_VEL_HORIZ |
             mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_VEL_VERT |
             mavutil.mavlink.GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY)

        master.mav.gps_input_send(
            time_usec,  # Timestamp (micros since boot or Unix epoch)
            0,  # ID of the GPS for multiple GPS inputs
            # Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum).
            # All other fields must be provided.
            ignore_flags,
            0,  # GPS time (milliseconds from start of GPS week)
            0,  # GPS week number
            fix_quality,  # 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
            lat_int,  # Latitude (WGS84), in degrees * 1E7
            lon_int,  # Longitude (WGS84), in degrees * 1E7
            0,  # Altitude (AMSL, not WGS84), in m (positive for up)
            int(hdop * 100),  # GPS HDOP horizontal dilution of position in m
            1,  # GPS VDOP vertical dilution of position in m
            0,  # GPS velocity in m/s in NORTH direction in earth-fixed NED frame
            0,  # GPS velocity in m/s in EAST direction in earth-fixed NED frame
            0,  # GPS velocity in m/s in DOWN direction in earth-fixed NED frame
            0,  # GPS speed accuracy in m/s
            0,  # GPS horizontal accuracy in m
            0,  # GPS vertical accuracy in m
            numsats  # Number of satellites visible.
        )
        print(f"GPS_INPUT sent: lat={lat}, lon={lon}, hdop={hdop}, numsats={numsats}")
    except Exception as e:
        print(f"Failed to send GPS_INPUT: {e}")