# Cannot control X,Y during takeoff (Offboard)

**URL:** <https://discuss.px4.io/t/cannot-control-x-y-during-takeoff-offboard/7608>\
**Category:** PX4 Autopilot\
**Created:** [August 23, 2018, 3:49pm UTC](https://discuss.px4.io/t/cannot-control-x-y-during-takeoff-offboard/7608 "2018-08-23T15:49:02Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![MPujol](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/e36b37/32.png) [@MPujol](https://discuss.px4.io/u/MPujol)\
**Post date:** [August 23, 2018, 3:49pm UTC](https://discuss.px4.io/t/cannot-control-x-y-during-takeoff-offboard/7608/1 "2018-08-23T15:49:02Z")

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Hello everyone,

I am developing a program with ROS that wants to have an octocopter do a specific maneuver. I am currently having some problems with the takeoff as the controller seems to ignore the x and y position that are being published to the `mavors/setpoint_position/local` topic. As it can be seen in the following image and the log, the current position is treated as the setpoint for the x and y coordinates, so only z is being controlled during takeoff. (Cyan and purple lines are following the position lines, instead of staying at 0, the value that is being published to the topic).

 ![](https://discuss.px4.io/uploads/default/original/2X/5/5798be5bc5d8b315f8695eabb6bb1dc7954dad20.png)

[FlightReview Log](https://review.px4.io/plot_app?log=05d6a762-4a52-4c29-82bc-8180fae63ff2)

I think that the setpoints are being published properly, so I would like to know if there’s a parameter that I am not aware of that is causing this problem or it has to do with my code.