# Px4 1.16 rover mission not working

**URL:** <https://discuss.px4.io/t/px4-1-16-rover-mission-not-working/48127>\
**Category:** PX4 Autopilot\
**Created:** [December 15, 2025, 12:41pm UTC](https://discuss.px4.io/t/px4-1-16-rover-mission-not-working/48127 "2025-12-15T12:41:10Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![spikno](https://discuss.px4.io/letter_avatar_proxy/v4/letter/s/ccd318/32.png) [@spikno](https://discuss.px4.io/u/spikno)\
**Post date:** [December 15, 2025, 12:41pm UTC](https://discuss.px4.io/t/px4-1-16-rover-mission-not-working/48127/1 "2025-12-15T12:41:10Z")

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Hi everyone, I’m working on a differential rover with Px4 1.16.0 o pixhawk 6C autopilot. For localization i’m using ev (hector slam) and, since it’s a indoor rover it doesn’t mount a gps.

My issue is that it won’t enter mission flight mode and QGround displays the error:  
[13:05:41.438] Critical: Switching to mode ‘Mission’ is currently not possible

- Navigation error: No valid global position estimate
- Navigation error: No valid altitude estimate

Now, i’m forcing the rover to have a global position using the command ‘commander set\_ekf\_origin‘ and it seems to be working since I see the rover on the QGround map and in analyze tools I also see that the message global\_position\_int is being published correctly. In the log file however, even though the latitude and longitude values in vehicle\_global\_position are updated just fine the failsafe flag global\_position\_invalid is always 1.

In the log I also see that the failsafe flag local\_altitude\_invalid is set to 1 which would explain the navigation error above. However, I don’t see why the altitude should matter for px4 rover since it moves only in 2d. Is it a bug or am I missing something?

Thank you

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**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\
**Post date:** [December 15, 2025, 11:02pm UTC](https://discuss.px4.io/t/px4-1-16-rover-mission-not-working/48127/2 "2025-12-15T23:02:39Z")

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PX4 doesn’t support local missions, only “global” using lat/lon.

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**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\
**Post date:** [March 15, 2026, 11:02pm UTC](https://discuss.px4.io/t/px4-1-16-rover-mission-not-working/48127/3 "2026-03-15T23:02:51Z")

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