# OFFBOARD mode problem **URL:** \ **Category:** Uncategorized\ **Created:** [July 30, 2021, 12:55pm UTC](https://discuss.px4.io/t/offboard-mode-problem/23536 "2021-07-30T12:55:14Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [July 30, 2021, 12:55pm UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/1 "2021-07-30T12:55:14Z")
Dear All I’ve been working on a real autonomous drone project. Basically an on board computer is connected to Pixhwak (FC). I could change the FC mode to OFFBOARD and I could Arm the drone successfully. Hardware: Pixhawk4 Software: Px4 Onboard computer:RPi4 Protocol: Mavros I use this code example : [https://docs.px4.io/master/en/ros/mavros\_offboard.html](https://docs.px4.io/master/en/ros/mavros_offboard.html) I am sending this topic: mavros/setpoint\_position/local And I send this set points: geometry\_msgs::PoseStamped pose; pose.pose.position.x = 0; pose.pose.position.y = 0; pose.pose.position.z = 2; My issue is the drone can’t take of and go to the location which I am sending the set points via MAVLink ( position control) Could you please advise me on this matter? Thanks in advance ---
**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:** [July 31, 2021, 8:05am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/2 "2021-07-31T08:05:31Z")
@saeidfallah1132 You are not populating the PoseStamped messages with the timestamps ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [July 31, 2021, 8:51am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/3 "2021-07-31T08:51:27Z")
@Jaeyoung-Lim thank you for your reply. What is the timestamp ? How can I add it ? ---
**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:** [July 31, 2021, 3:56pm UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/4 "2021-07-31T15:56:26Z")
@saeidfallah1132 You can find the message definitions in [geometry\_msgs/PoseStamped Documentation](http://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html) The timestamp is inside the header Could you maybe share the flightlog tjat shows your issue? ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 1, 2021, 1:09am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/5 "2021-08-01T01:09:53Z")
I read the document. As far as I understand, what I need to publish are: pos.header.stamp = ros::Time::now; pose.pose.position.x = 0; pose.pose.position.y = 0; pose.pose.position.z = 2; Then drone has to take off and move to z=2 meter. Is it right ? The below link is my log file: [https://logs.px4.io/plot\_app?log=dd8b2026-7bb3-4118-90c3-eaa4330e3dfe](https://logs.px4.io/plot_app?log=dd8b2026-7bb3-4118-90c3-eaa4330e3dfe) ---
**Author:** ![copterspace](https://discuss.px4.io/user_avatar/discuss.px4.io/copterspace/32/3187_2.png) [@copterspace](https://discuss.px4.io/u/copterspace)\ **Post date:** [August 2, 2021, 5:27am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/6 "2021-08-02T05:27:27Z")
Here you can find offboard control sample python code: > **[GitHub - copterspace/robocross2019: Baloon visual detector + steering node...](https://github.com/copterspace/robocross2019)** > > Baloon visual detector + steering node for RPI+PX4 quad flight stack - GitHub - copterspace/robocross2019: Baloon visual detector + steering node for RPI+PX4 quad flight stack ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 3, 2021, 7:48am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/7 "2021-08-03T07:48:53Z")
@Jaeyoung-Lim As you advised, I sent the timestamp, seq and frame\_id with the setpints ``` pose.header.stamp = ros::Time::now(); pose.header.seq=count; pose.header.frame_id = 1; local_pos_pub.publish(pose); ``` To make sure the header data is sending, I subscribe to the topic: _ **mavros/setpoint\_position/local** _ This is how the result looks like: ![Position_ctrl](https://discuss.px4.io/uploads/default/original/2X/4/492e582863b13d5e7b244eedce2bd31ce3299796.png) **BTW, I do not have RC attached to the Pixhawk. My plan is to take off the drone without RC.** The drone still cannot take off. I attached the log file and don’t know how to troubleshoot from the log file. The below link is my log file: [https://logs.px4.io/plot\_app?log=dd8b2026-7bb3-4118-90c3-eaa4330e3dfe](https://logs.px4.io/plot_app?log=dd8b2026-7bb3-4118-90c3-eaa4330e3dfe) Kindly, please advise me on this matter. ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 3, 2021, 7:50am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/8 "2021-08-03T07:50:03Z")
@copterspace Thank you for sharing the link. Have you test it on the real drone ? ---
**Author:** ![copterspace](https://discuss.px4.io/user_avatar/discuss.px4.io/copterspace/32/3187_2.png) [@copterspace](https://discuss.px4.io/u/copterspace)\ **Post date:** [August 3, 2021, 8:06am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/9 "2021-08-03T08:06:04Z")
Surely. This is how it looked like [РобоКросс 2019 - YouTube](https://www.youtube.com/watch?v=YqR_UTF9HM8) ---
**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:** [August 3, 2021, 8:12am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/10 "2021-08-03T08:12:17Z")
@saeidfallah1132 If you look at the log, you can see that your altitude estimate is somehow higher(50m) than 2m. Therefore I think the vehicle behavior is correct. I think you might have a height estimation issue hat needs to be solved before you go into offboard mode ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 3, 2021, 8:26am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/11 "2021-08-03T08:26:22Z")
@Jaeyoung-Lim This the new log (yesterday) after the code correction (add timestamp) [https://logs.px4.io/plot\_app?log=f0b090f8-468a-41b1-8825-f93ab29eaf08](https://logs.px4.io/plot_app?log=f0b090f8-468a-41b1-8825-f93ab29eaf08) Are you referring to GPS altitude ? I tested the drone in my apartment at level 9. how can I solve height estimation issue? why is it happening ? ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 3, 2021, 10:24am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/12 "2021-08-03T10:24:28Z")
Thank you for sharing the valuable video. May I know what kind of configurate do I have to set for OFFBOARD mode (Position Control) in QGC software ? ---
**Author:** ![copterspace](https://discuss.px4.io/user_avatar/discuss.px4.io/copterspace/32/3187_2.png) [@copterspace](https://discuss.px4.io/u/copterspace)\ **Post date:** [August 3, 2021, 10:51am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/13 "2021-08-03T10:51:30Z")
Here is step-by-step instruction: [Вход в Aeronet, эпизод 2: Самонаводящийся дрон / Хабр](https://habr.com/ru/post/461887/). It is in Russian, you may google-translate it, I hope it will be readable. There are also some pics and code… [https://translate.google.com/translate?hl=&sl=ru&tl=en&u=https%3A%2F%2Fhabr.com%2Fru%2Fpost%2F461887%2F](https://translate.google.com/translate?hl=&sl=ru&tl=en&u=https%3A%2F%2Fhabr.com%2Fru%2Fpost%2F461887%2F) ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 4, 2021, 7:15am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/14 "2021-08-04T07:15:44Z")
@copterspace Thank you for sharing the instruction. Today I am going to try your code and will update you on the result. I have a question, As I mentioned, I do not have a RC in my application so that there is no receiver attached to the pixhawk. Shall I disable failsafe RC permission in QGS software ? ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 4, 2021, 9:41am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/15 "2021-08-04T09:41:46Z")
@copterspace I just tested your code. The link below is the result of test which I recorded my screen. [https://drive.google.com/drive/folders/179jPpZLetP8EUxpVsfcYJJQriP0tWyvM?usp=sharing](https://drive.google.com/drive/folders/179jPpZLetP8EUxpVsfcYJJQriP0tWyvM?usp=sharing) Conclusion: Drone changed the mode to AUTO.TAKEOFF then the mode changed to AUTO.RTL. The mode didn’t change to OFFBOARD Mode. I noticed that on the terminal I received the below Warning: **[WARN] [1563116702.366064401]: TM : RTT too high for timesync: 13.14 ms.** BTW, I used a serial to USB converter which is connect to Pixhawk’s TELEM2 ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 5, 2021, 4:50am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/16 "2021-08-05T04:50:44Z")
@Jaeyoung-Lim Could you please guide me what shall I do ? ---
**Author:** ![copterspace](https://discuss.px4.io/user_avatar/discuss.px4.io/copterspace/32/3187_2.png) [@copterspace](https://discuss.px4.io/u/copterspace)\ **Post date:** [August 5, 2021, 6:22am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/17 "2021-08-05T06:22:32Z")
Imho, you better first reproduce jmavsim autonomous flight exactly as it is described here: [https://translate.google.com/translate?sl=ru&tl=en&u=https://habr.com/ru/post/434220/](https://translate.google.com/translate?sl=ru&tl=en&u=https://habr.com/ru/post/434220/) After you succeed with jmavsim - try to apply this approach to real drone. [https://translate.google.com/translate?hl=&sl=ru&tl=en&u=https%3A%2F%2Fhabr.com%2Fru%2Fpost%2F461887%2F](https://translate.google.com/translate?hl=&sl=ru&tl=en&u=https%3A%2F%2Fhabr.com%2Fru%2Fpost%2F461887%2F) When jmavim works OK - at least you’ll be assured the problem is not in onboard computer code. Then you’ll be able to concentrate on solving real drone setup issues. ---
**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:** [August 5, 2021, 11:22am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/18 "2021-08-05T11:22:14Z")
@saeidfallah1132 What is your baudrate? make sure it is over 921600 ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 8, 2021, 5:22am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/19 "2021-08-08T05:22:16Z")
My Baudrate setup is 921600 and I use the below command in the terminal **roslaunch mavros px4.launch fcu\_url:=/dev/ttyUSB0:921600** I tested again the drone, still had the same problem. doesn’t allow the drone to take-off. [OFFBOARD\_\_Setup Report.pdf|attachment] I’ve prepared a report for your review and your advise. Please have a look and give me your feedback . [OFFBOARD\_\_Setup Report.pdf](https://discuss.px4.io/uploads/short-url/h1F2lkw4Z5yxsezj5wMM0L7JrdC.pdf) (931.5 KB) thanks ---
**Author:** ![saeidfallah1132](https://discuss.px4.io/user_avatar/discuss.px4.io/saeidfallah1132/32/9156_2.png) [@saeidfallah1132](https://discuss.px4.io/u/saeidfallah1132)\ **Post date:** [August 8, 2021, 5:35am UTC](https://discuss.px4.io/t/offboard-mode-problem/23536/20 "2021-08-08T05:35:40Z")
Hi, Thank you for sharing the links. Yes, I tested the code in the simulation environment and the result was as expected so that the python script could take-off the drone. However I tested the same code with a real drone. In the real drone, I could change the mode to “OFFBARD” and “ARM” the motors successfully but the drone still cannot take-off. Note: There is no RC in my setup. 1. Would it be possible the drone cannot take-off due to not existing the RC. 2. Is there any configuration I have to do to disable the RC failsafe ? BTW, I attached a report form my setup and results. Please have a look and give me you opinion. [OFFBOARD\_\_Setup Report.pdf](https://discuss.px4.io/uploads/short-url/h1F2lkw4Z5yxsezj5wMM0L7JrdC.pdf) (931.5 KB) thanks. [Next page](https://discuss.px4.io/t/offboard-mode-problem/23536.md?page=2)