I am having a problem switching to offboard mode while flying my multi-rotor in an Optitrack mocap room.
I’m currently using the MAVSDK Python API. I’ve looked at the requirements for offboard mode and feel that I am meeting them, but I’m new to this and realize I may be missing something.
I use mocap.set_vision_position_estimate() to send PX4 my mocap position with a VisionPositionEstimate msg, and I am sending waypoints with a feedforward velocity through offboard.set_position_velocity_ned() via a PositionNedYaw msg and VelocityNedYaw msg.
I have verified that the waypoints are being sent >2Hz and that the vision estimate is accurate and being published.
When I take-off manually, then use my RC to switch to offboard I get the following error message:
“CRITICAL REJECT OFFBOARD”
The mode is then automatically switched to ALTCTL.
No further info is given on this error in QGC. Is there something I may be missing here?
Thank you for any help you can give me!!