How to switch to Offboard mode through mavlink?

[Joe_Lynch]

The documentation says that it’s possible to get in to offboard mode via mavlink message, but I can’t figure out what that message is.

[loic.dubois]

Hi Joe,

You can use MAV_CMD_DO_SET_MODE with:
param1: VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED (1, see commander/commander.cpp)
param 2: PX4_CUSTOM_MAIN_MODE_OFFBOARD (6, see commander/px4_custom_mode.h)

[HyungsubKim]

You can refer the answer.

MAV_CMD_DO_SET_MODE all possible modes

I think that it is quite late reply, but I want to leave my answer for others who have the same problem. You need to assign base_mode, main_mode, and sub_mode. For instance, in order to trigger ‘position’ flight mode, you can use the following pymavlink code. I think that it will be same in dronekit code. master.mav.command_long_send( master.target_system, master.target_component, mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0, base_mode, main_mode, sub_mode, 0, 0, 0, 0) sub_mode is only defined …