# \[Solved\] Can not switch flight mode to OFFBOARD in gazebo ('mode change failed') **URL:** \ **Category:** PX4 Autopilot\ **Created:** [February 10, 2017, 2:46pm UTC](https://discuss.px4.io/t/solved-can-not-switch-flight-mode-to-offboard-in-gazebo-mode-change-failed/2416 "2017-02-10T14:46:07Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![Boss\_Kwei](https://discuss.px4.io/letter_avatar_proxy/v4/letter/b/8c91f0/32.png) [@Boss\_Kwei](https://discuss.px4.io/u/Boss_Kwei)\ **Post date:** [February 10, 2017, 2:46pm UTC](https://discuss.px4.io/t/solved-can-not-switch-flight-mode-to-offboard-in-gazebo-mode-change-failed/2416/1 "2017-02-10T14:46:07Z")
Hi, I’m fresh man in px4, I have been trying for a while to change flight mode to OFFBOARD, but I am really hitting some problems. - Date: Feb.10 2017 - System: Ubuntu 16.04 - Platform: ROS Kinetic - Firmware: The latest version cloning from [github.com](http://github.com) - Default SITL config: posix-configs/SITL/init/lpe ```auto uorb start param load param set MAV_TYPE 2 param set SYS_AUTOSTART 4010 param set SYS_RESTART_TYPE 2 dataman start param set BAT_N_CELLS 3 param set CAL_GYRO0_ID 2293768 param set CAL_ACC0_ID 1376264 param set CAL_ACC1_ID 1310728 param set CAL_MAG0_ID 196616 param set CAL_GYRO0_XOFF 0.01 param set CAL_ACC0_XOFF 0.01 param set CAL_ACC0_YOFF -0.01 param set CAL_ACC0_ZOFF 0.01 param set CAL_ACC0_XSCALE 1.01 param set CAL_ACC0_YSCALE 1.01 param set CAL_ACC0_ZSCALE 1.01 param set CAL_ACC1_XOFF 0.01 param set CAL_MAG0_XOFF 0.01 param set SENS_BOARD_ROT 0 param set SENS_BOARD_X_OFF 0.000001 param set COM_RC_IN_MODE 1 param set NAV_DLL_ACT 2 param set COM_DISARM_LAND 3 param set NAV_ACC_RAD 2.0 param set COM_OF_LOSS_T 5 param set COM_OBL_ACT 2 param set COM_OBL_RC_ACT 0 param set RTL_RETURN_ALT 30.0 param set RTL_DESCEND_ALT 5.0 param set RTL_LAND_DELAY 5 param set MIS_TAKEOFF_ALT 2.5 param set MC_ROLLRATE_P 0.2 param set MC_PITCHRATE_P 0.2 param set MC_PITCH_P 6 param set MC_ROLL_P 6 param set MPC_HOLD_MAX_Z 2.0 param set MPC_HOLD_XY_DZ 0.1 param set MPC_Z_VEL_P 0.6 param set MPC_Z_VEL_I 0.15 param set EKF2_GBIAS_INIT 0.01 param set EKF2_ANGERR_INIT 0.01 replay tryapplyparams simulator start -s rgbledsim start tone_alarm start gyrosim start accelsim start barosim start adcsim start gpssim start pwm_out_sim mode_pwm sleep 1 sensors start commander start land_detector start multicopter navigator start attitude_estimator_q start local_position_estimator start mc_pos_control start mc_att_control start mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix mavlink start -u 14556 -r 4000000 mavlink start -u 14557 -r 4000000 -m onboard -o 14540 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556 mavlink stream -r 50 -s ATTITUDE -u 14556 mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556 mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556 mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556 mavlink stream -r 20 -s RC_CHANNELS -u 14556 mavlink stream -r 250 -s HIGHRES_IMU -u 14556 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556 logger start -e -t mavlink boot_complete replay trystart ``` I started Firmware, gazebo and mavros in this way: ```auto export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/ubuntu/Downloads/PX4-Firmware cd /home/ubuntu/Downloads/PX4-Firmware source Tools/setup_gazebo.bash $(pwd) $(pwd)/build_posix_sitl_default export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd) export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:$(pwd)/Tools/sitl_gazebo roslaunch px4 mavros_posix_sitl.launch ``` `commander takeoff`, `commander land` and `commander mode manual` work correctly except `commander mode offboard` Every thing is OK but I can not switch flight mode to OFFBOARD. Terminal like this: ```auto pxh>commander takeoff [INFO] [1486737584.605283303, 2258.312000000]: FCU: ARMED by command line INFO [commander] Taking off INFO [tone_alarm] positive INFO [commander] home: 47.3977413, 8.5455936, 0.64 INFO [tone_alarm] arming [WARN] [1486737584.607384737, 2258.314000000]: CMD: Unexpected command 22, result 0 [INFO] [1486737584.607449103, 2258.314000000]: FCU: Taking off INFO [logger] Start file log INFO [logger] Opened log file: rootfs/fs/microsd/log/2017-02-10/14_39_44.ulg [INFO] [1486737584.609439885, 2258.316000000]: FCU: [logger] file: rootfs/fs/microsd/log/2017-02-10/1 [INFO] [1486737584.617750672, 2258.324000000]: FCU: Using minimum takeoff altitude: 2.50 m INFO [commander] Takeoff detected [INFO] [1486737584.969155916, 2258.676000000]: FCU: Takeoff detected INFO [local_position_estimator] [lpe] land timeout [INFO] [1486737585.951655413, 2259.656000000]: FCU: [lpe] land timeout pxh> commander check WARN [commander] Preflight check: OK WARN [commander] Prearm check: OK pxh> commander mode offboard WARN [commander] mode change failed pxh> commander land pxh> INFO [commander] Landing at current position INFO [tone_alarm] positive [INFO] [1486737778.533327217, 2452.058000000]: FCU: Landing at current position INFO [commander] Landing detected [INFO] [1486737786.548513226, 2460.066000000]: FCU: Landing detected INFO [local_position_estimator] [lpe] land init [INFO] [1486737786.673254725, 2460.190000000]: FCU: [lpe] land init INFO [tone_alarm] neutral [INFO] [1486737789.557662216, 2463.072000000]: FCU: DISARMED by auto disarm on land INFO [logger] closed logfile, bytes written: 1040913 ``` Also I can not set mode to OFFBOARD by `mavros_msgs/SetMode`. Anyhelp would be highly appreciated. Sincerely ---
**Author:** ![paan2097](https://discuss.px4.io/user_avatar/discuss.px4.io/paan2097/32/4697_2.png) [@paan2097](https://discuss.px4.io/u/paan2097)\ **Post date:** [May 12, 2017, 7:54pm UTC](https://discuss.px4.io/t/solved-can-not-switch-flight-mode-to-offboard-in-gazebo-mode-change-failed/2416/2 "2017-05-12T19:54:41Z")
Did you solve this? I am unable to set OFFBOARD mode ---
**Author:** ![wil](https://discuss.px4.io/letter_avatar_proxy/v4/letter/w/59ef9b/32.png) [@wil](https://discuss.px4.io/u/wil)\ **Post date:** [August 18, 2017, 5:22pm UTC](https://discuss.px4.io/t/solved-can-not-switch-flight-mode-to-offboard-in-gazebo-mode-change-failed/2416/3 "2017-08-18T17:22:20Z")
Why is this marked Solved?