# Switching from Mission to Offboard Control Mode during execution of a mission and back

**URL:** <https://discuss.px4.io/t/switching-from-mission-to-offboard-control-mode-during-execution-of-a-mission-and-back/39359>\
**Category:** PX4 Autopilot\
**Created:** [June 21, 2024, 7:39pm UTC](https://discuss.px4.io/t/switching-from-mission-to-offboard-control-mode-during-execution-of-a-mission-and-back/39359 "2024-06-21T19:39:57Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![sritheja](https://discuss.px4.io/user_avatar/discuss.px4.io/sritheja/32/14279_2.png) [@sritheja](https://discuss.px4.io/u/sritheja)\
**Post date:** [June 21, 2024, 7:39pm UTC](https://discuss.px4.io/t/switching-from-mission-to-offboard-control-mode-during-execution-of-a-mission-and-back/39359/1 "2024-06-21T19:39:57Z")

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Hello All,

I’m currently working on implementing an offboard control mode using a companion computer for a PX4-based autopilot. My workflow involves the following steps:

1. Uploading the Plan File:  
The plan file is uploaded to the UAV.
2. Automatic Mode Switch:  
During the execution of the plan file in mission mode, at a specified waypoint, the UAV needs to automatically switch to offboard control mode to execute tasks that only the companion computer can perform.
3. Completion and Mode Reversion:  
Upon completing these tasks, the UAV must switch back to mission mode to complete the rest of the mission.

I am seeking information on whether there is existing functionality in PX4 that allows for the automatic switching from mission mode to offboard control mode at a designated waypoint. If one does not exist, any suggestions to implement this are appreciated.

Thank you for your assistance.

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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:** [June 22, 2024, 7:59am UTC](https://discuss.px4.io/t/switching-from-mission-to-offboard-control-mode-during-execution-of-a-mission-and-back/39359/2 "2024-06-22T07:59:47Z")

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Duplicate of [Switching from Mission to Offboard Control Mode](https://discuss.px4.io/t/switching-from-mission-to-offboard-control-mode/39358).

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<div class="post-metadata">

**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:** [June 22, 2024, 7:59am UTC](https://discuss.px4.io/t/switching-from-mission-to-offboard-control-mode-during-execution-of-a-mission-and-back/39359/3 "2024-06-22T07:59:52Z")

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