An mavsdk error occurred while using Ros

YOLO, I’m writing code to publish Gotrun’s cv2 screen to Ros Detection in real time, then subscribe to that image and use mavsdk to issue commands to control the drone based on the size and position of the bounding box.

await self.drone.offboard.set_velocity_body(
                VelocityBodyYawspeed(p, r, t, y))

When I give this control command, the drone turns on and off again. I’m wondering why?

import asyncio
from mavsdk import System
from std_msgs.msg import String
from mavsdk.offboard import (VelocityBodyYawspeed,VelocityNedYaw, PositionNedYaw, OffboardError)
import rospy

class Navigation:
    def __init__(self):
        self.detection_info = ""
        self.centerx = 240
        self.centery = 220
        self.height = 100
        self.tolx = 20
        self.toly = 20
        self.tolh = 20
        self.drone = System()

    def detection_cb(self, msg):
        self.detection_info =

    async def setup_and_takeoff(self):
        await self.drone.connect(system_address="udp://:14540")

        print("Waiting for drone to connect...")
        async for state in self.drone.core.connection_state():
            if state.is_connected:
                print(f"-- Connected to drone!")

        print("Waiting for drone to have a global position estimate...")
        async for health in
            if health.is_global_position_ok and health.is_home_position_ok:
                print("-- Global position estimate OK")

        print("-- Arming")
        await self.drone.action.arm()

        print("-- Setting initial setpoint")
        await self.drone.offboard.set_velocity_body(
            VelocityBodyYawspeed(0.0, 0.0, 0.0, 0.0))

        print("-- Starting offboard")
            await self.drone.offboard.start()
        except OffboardError as error:
            print(f"Starting offboard mode failed with error code: \
            print("-- Disarming")
            await self.drone.action.disarm()

        await self.control_loop()
    async def control_loop(self):

        while True :
            cx, cy, h = self.detection_info.split()
            cx = int(float(cx))
            cy = int(float(cy))
            h = int(float(h))

            p,r,t,y = 0.0, 0.0, 0.0, 0.0  

            if abs(cx - self.centerx) > self.tolx:  
                if cx - self.centerx <= 0:
                    r = 1.0 

                    r = -1.0  

            if abs(cy - self.centery) > self.toly: 
                if cy - self.centery > 0:
                    t = -5.0 

                    t = 5.0 

            if abs(h - self.height) > self.tolh: 
                if h - self.height > 0:
                    p = -1.0 

                else : 
                    p = 1.0

            await self.drone.offboard.set_velocity_body(
                VelocityBodyYawspeed(p, r, t, y))

            await asyncio.sleep(5)

if __name__ == "__main__":
    rospy.init_node("detection", anonymous=False)
    navigation = Navigation()
    detection_sub = rospy.Subscriber("detection_info", String, callback=navigation.detection_cb)

    loop = asyncio.get_event_loop()