# Indoor Takeoff with Mavros

**URL:** <https://discuss.px4.io/t/indoor-takeoff-with-mavros/15178>\
**Category:** ROS 1 / ROS 2\
**Created:** [February 13, 2020, 3:13pm UTC](https://discuss.px4.io/t/indoor-takeoff-with-mavros/15178 "2020-02-13T15:13:03Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![ClemenceEdouard](https://discuss.px4.io/letter_avatar_proxy/v4/letter/c/e9c0ed/32.png) [@ClemenceEdouard](https://discuss.px4.io/u/ClemenceEdouard)\
**Post date:** [February 13, 2020, 3:13pm UTC](https://discuss.px4.io/t/indoor-takeoff-with-mavros/15178/1 "2020-02-13T15:13:03Z")

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Hello,

I’m currently working with Pixhawk mini, PX4 and Mavros (ROS Melodic) to do an automatic flight.  
I would like to control the drone with my computer and Mavros. The drone is conected with an FTDI cable and for the moment I can send some commands with Mavros and change the OFFBOARD mode.  
I succeeded to do an outdoor takeoff with the following commands :  
roslaunch mavros px4.launch fcu\_url:="/dev/ttyUSB0:57600"  
rosrun mavros mavsafety arm  
rosrun mavros mavcmd sethome -c 0 0 0  
rosrun mavros mavcmd takeoffcur 0.1 0.1 0.2 (min\_pitch , yaw, altitude)  
rosrun mavros mavcmd landcur 0.0 0.0 (yaw, altitude)  
rosrun mavros mavsafety disarm

However, when I want to do an indoor takeoff, I need to locate the drone to set the home position but I don’t know how to do without the GPS. I saw in the PX4 website the tutorial Using Vision or Motion Capture Systems for Position Estimation but I don’t have any camera. Is there someone who faced the same problem and solved it ?  
Thank you for your suggestions

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**Author:** ![Mzahana](https://discuss.px4.io/user_avatar/discuss.px4.io/mzahana/32/3790_2.png) [@Mzahana](https://discuss.px4.io/u/Mzahana)\
**Post date:** [February 15, 2020, 3:03pm UTC](https://discuss.px4.io/t/indoor-takeoff-with-mavros/15178/2 "2020-02-15T15:03:48Z")

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For the drone to takeoff and hover in position, you need position feedback. For indoor flight, you may use the option that you already mentioed or PXFlow sensor.

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**Author:** ![DRODAR](https://discuss.px4.io/letter_avatar_proxy/v4/letter/d/e36b37/32.png) [@DRODAR](https://discuss.px4.io/u/DRODAR)\
**Post date:** [August 26, 2024, 9:38am UTC](https://discuss.px4.io/t/indoor-takeoff-with-mavros/15178/3 "2024-08-26T09:38:05Z")

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Hi @ClemenceEdouard,

although not directly related to MAVROS, I solved the issue you mentioned by emulating GPS + Compass data with a Marvelmind system.  
I made a detailed post about it on the AP forum:

> **[Marvelmind protocol still supported?](https://discuss.ardupilot.org/t/marvelmind-protocol-still-supported/114562/13?u=flcnsw)**
>
> Hello, since I was stuck integrating the Marvelmind system on my Ardupilot copter and I had the recources, I decided to give PixHawk + PX4 a try and was able to integrate MM successfully. Please note that I used the uBlox protocol wich has to be...