# PX4 Offboard Control of Fixed Wing ROS/Gazebo SITL

**URL:** <https://discuss.px4.io/t/px4-offboard-control-of-fixed-wing-ros-gazebo-sitl/23203>\
**Category:** PX4 Autopilot\
**Created:** [July 8, 2021, 9:08am UTC](https://discuss.px4.io/t/px4-offboard-control-of-fixed-wing-ros-gazebo-sitl/23203 "2021-07-08T09:08:06Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![YousafFarrukh](https://discuss.px4.io/letter_avatar_proxy/v4/letter/y/b9e5f3/32.png) [@YousafFarrukh](https://discuss.px4.io/u/YousafFarrukh)\
**Post date:** [July 8, 2021, 9:08am UTC](https://discuss.px4.io/t/px4-offboard-control-of-fixed-wing-ros-gazebo-sitl/23203/1 "2021-07-08T09:08:06Z")

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Hi, I need to know how can I send the attitude commands to PX4 through MAVROS? Currently, I have been able to send the position setpoint commands. However, vehicle seems to be denying. I am using MAVROS to publish setpoint commands.

BR

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**Author:** ![Elvin\_Gultekinoglu](https://discuss.px4.io/user_avatar/discuss.px4.io/elvin_gultekinoglu/32/9848_2.png) [@Elvin\_Gultekinoglu](https://discuss.px4.io/u/Elvin_Gultekinoglu)\
**Post date:** [July 29, 2022, 11:36am UTC](https://discuss.px4.io/t/px4-offboard-control-of-fixed-wing-ros-gazebo-sitl/23203/2 "2022-07-29T11:36:50Z")

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Position setpoints work for offboard mode as I know. I tried to implement it through Mavros in C++ and it worked without an error. There might be a problem in your code, if you can share the related part, I can try to help.