Hi @Adam_Brown , if you take a look at the offboard mode documentation you will see that to track a velocity reference you must set position field of the trajectorySetpoint message to NaN. Any other finite value will switch on the position controller. So right now you are asking your drone to go to position 0 0 0 with feedforward velocity [0.0, 0.0, -2.0]. The equilibrium of this is exactly what you are seeing. See also Offboard mode set velocity not working - #2 by Benja
FYI @hamishwillee , I think the offboard mode doc should be better linked to the ROS 2 guide and reshaped a bit to have the different control modes better explained.