# Switching to mode 'Offboard' is currently not possible. Check for a valid position estimate

**URL:** <https://discuss.px4.io/t/switching-to-mode-offboard-is-currently-not-possible-check-for-a-valid-position-estimate/32815>\
**Category:** MAVLink\
**Created:** [June 18, 2023, 5:25pm UTC](https://discuss.px4.io/t/switching-to-mode-offboard-is-currently-not-possible-check-for-a-valid-position-estimate/32815 "2023-06-18T17:25:42Z")\
**Posts on this page:** 1\
**Showing post:** 3

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**Author:** ![paul1](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/3d9bf3/32.png) [@paul1](https://discuss.px4.io/u/paul1)\
**Post date:** [June 21, 2023, 3:09pm UTC](https://discuss.px4.io/t/switching-to-mode-offboard-is-currently-not-possible-check-for-a-valid-position-estimate/32815/3 "2023-06-21T15:09:34Z")

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I have not tried arming it via my code but I will try to see if I can replicate your issue. Are you also using two telemetry cables to a Linux based offboard computer?

Have you tried the settings listed at this link?  
[Problems connecting a Pixhawk 6c to a Raspberry Pi - #4 by JulianOes](https://discuss.px4.io/t/problems-connecting-a-pixhawk-6c-to-a-raspberry-pi/32318/4)

I made those changes for both Telem2 and Telem3. Doing this and then running the code on my offboard computer let me see messages had gone through( by doing cout \<\< message\_id) and I could see position messages (LOCAL\_POSITION\_NED and ODOMETRY) being received by Mavlink Inspector in QGroundControl.

My next thought is to plot the test ratios as mentioned here: [Using the ECL EKF | PX4 User Guide](https://docs.px4.io/v1.12/en/advanced_config/tuning_the_ecl_ekf.html)

and see if some of my data is coming through with too much noise or something.

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