# Arming rejected in offboard mode **URL:** \ **Category:** PX4 Autopilot\ **Created:** [November 6, 2023, 7:18am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160 "2023-11-06T07:18:52Z")\ **Posts on this page:** 10\ **Page:** 1
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 6, 2023, 7:18am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/1 "2023-11-06T07:18:52Z")
Hi all, I’m running px4 6x with release/1.14 Trying to offboard control via ros2 package I was able to connect and see topics using uxrce dds agent Now I’m trying to control the px4 with velocity contoller. I tried to arm from keyboard but no luck. I also tried to arm via qgc but denied as below picture shows. ![arm1](https://discuss.px4.io/uploads/default/original/2X/b/ba4cf47416de64d312a53a12bfb6aa527c2f6a83.jpeg) ![arm2](https://discuss.px4.io/uploads/default/original/2X/c/c925e63183accf1982843c64a37ecb9d7e9e8fd1.png) I set “Allow arming without GPS” params What is the reason px4 rejects arming? Any suggestions? ---
**Author:** ![Jaeyoung-Lim](https://discuss.px4.io/user_avatar/discuss.px4.io/jaeyoung-lim/32/10829_2.png) [@Jaeyoung-Lim](https://discuss.px4.io/u/Jaeyoung-Lim)\ **Post date:** [November 6, 2023, 8:24am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/2 "2023-11-06T08:24:16Z")
@Kyuhyong_You Are you trying to do position or velocity control without a local position estimate? ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 6, 2023, 8:29am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/3 "2023-11-06T08:29:25Z")
Hi @Jaeyoung-Lim Yes I’m only trying to test the board without GPS One thing I noticed is that there is no RX packets received to uxrce\_dds\_client. I checked uxrce\_dds\_client status in nsh I see no RX as below ```auto nsh> uxrce_dds_client status INFO [uxrce_dds_client] Running, connected INFO [uxrce_dds_client] Using transport: serial INFO [uxrce_dds_client] Payload tx: 50139 B/s INFO [uxrce_dds_client] Payload rx: 0 B/s ``` When commanded to `ARM` via ros2 message as below ```auto $ ros2 topic echo /fmu/in/vehicle_command timestamp: 1699259008732148 param1: 1.0 param2: 0.0 param3: 0.0 param4: 0.0 param5: 0.0 param6: 0.0 param7: 0.0 command: 400 target_system: 1 target_component: 1 source_system: 1 source_component: 1 confirmation: 0 from_external: true ``` Seems like arming message is sent to micro\_ros\_agent but not to the dds\_client on px4 finally. ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 8, 2023, 7:16am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/4 "2023-11-08T07:16:11Z")
Tried to check the topics of below message /fmu/out/vehicle\_status /fmu/out/failsafe\_flags ![image](https://discuss.px4.io/uploads/default/original/2X/f/f0016a8dbff03aa8c96fc1c8b21d5520b110efb1.png) I found safety flags indicate there is no control signals available to px4. ```auto offboard_control_signal_lost: true home_position_invalid: true manual_control_signal_lost: true ``` Why this happens while connected via uxrc agent? Any idea? ---
**Author:** ![mdobrea](https://discuss.px4.io/user_avatar/discuss.px4.io/mdobrea/32/7568_2.png) [@mdobrea](https://discuss.px4.io/u/mdobrea)\ **Post date:** [November 8, 2023, 8:13am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/5 "2023-11-08T08:13:49Z")
You have here 2 code that are able to control a drone through position and velocity: > > > //github.com/dmdobrea/HoverGames\_Challenge3/tree/main/02\_offboard\_control Some explications here: > **[agriHoverGames – a smart drone that solves farmers' problems](https://www.hackster.io/mdobrea/agrihovergames-a-smart-drone-that-solves-farmers-problems-dfa239)** > > An intelligent system that can analyze the health of different cultures. By Dobrea Dan Marius. and a demonstrative video here: [![](https://img.youtube.com/vi/W4ygefzeG0s/hqdefault.jpg "NXP HoverGames drone offboard control (#NXPHoverGames3)") ](https://www.youtube.com/watch?v=W4ygefzeG0s) ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 8, 2023, 11:33pm UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/6 "2023-11-08T23:33:47Z")
Hello @mdobrea Thanks for sharing the repository. Can you tell what version of ROS you used? Have you tried to control px4 drone with uxrce\_agent? Did you also connect to uxrce client via serial port? What baud rate did you use? Kyuhyong ---
**Author:** ![Benja](https://discuss.px4.io/user_avatar/discuss.px4.io/benja/32/11872_2.png) [@Benja](https://discuss.px4.io/u/Benja)\ **Post date:** [November 11, 2023, 8:00pm UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/7 "2023-11-11T20:00:33Z")
Hi @Kyuhyong_You - Are you using `v1.14.0 stable`? - How is your board and the companion computer connected? - Did you try the offboard example of `px4_ros_com`? [ROS 2 Offboard Control Example | PX4 User Guide (main)](https://docs.px4.io/main/en/ros/ros2_offboard_control.html) (please use the approprate branches depending on your PX4 version) ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 14, 2023, 7:51am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/8 "2023-11-14T07:51:37Z")
`ros2 run px4_ros_com offboard_control` works now rx payload is received to the dds\_client. ```auto nsh> uxrce_dds_client status INFO [uxrce_dds_client] Running, connected INFO [uxrce_dds_client] Using transport: serial INFO [uxrce_dds_client] Payload tx: 51215 B/s INFO [uxrce_dds_client] Payload rx: 799 B/s ``` Maybe my offboard control from below is outdated? > **[GitHub - Jaeyoung-Lim/px4-offboard: Example of offboard control over microdds...](https://github.com/Jaeyoung-Lim/px4-offboard)** > > Example of offboard control over microdds using python ROS 2 - GitHub - Jaeyoung-Lim/px4-offboard: Example of offboard control over microdds using python ROS 2 ---
**Author:** ![Kyuhyong\_You](https://discuss.px4.io/user_avatar/discuss.px4.io/kyuhyong_you/32/2210_2.png) [@Kyuhyong\_You](https://discuss.px4.io/u/Kyuhyong_You)\ **Post date:** [November 16, 2023, 3:31am UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/9 "2023-11-16T03:31:32Z")
Hi @Benja , I followed offboard control example you suggested but still could not arm the real hardware PX4. There is no popups in the qgc. What else I can do? ---
**Author:** ![hpc00003](https://discuss.px4.io/letter_avatar_proxy/v4/letter/h/c0e974/32.png) [@hpc00003](https://discuss.px4.io/u/hpc00003)\ **Post date:** [June 20, 2024, 9:03pm UTC](https://discuss.px4.io/t/arming-rejected-in-offboard-mode/35160/10 "2024-06-20T21:03:34Z")
Hi @Kyuhyong_You, Did you ever figure this out? I am having the same exact problem - can’t arm with any offboard script that I run.