It continues to fail with warnings in the arminig part.

[romaster93]

Hi !!

In controller.cpp, there is a command to arminig after activating offboard mode when a trajectory is entered. However, when the trajectory is entered, arming fails with the following messages. mode also does not change. I really want to run your code. Please help.

INFO [commander] Armed by external command
INFO [tone_alarm] arming warning
WARN [commander] Failsafe enabled: no offboard
INFO [commander] Failsafe mode activated
INFO [tone_alarm] battery warning (fast)
INFO [commander] Failsafe mode deactivated
WARN [commander] Failsafe enabled: no offboard
INFO [commander] Failsafe mode activated
INFO [tone_alarm] battery warning (fast)
INFO [commander] Failsafe mode deactivated
INFO [commander] Disarmed by auto preflight disarming

ref) my recent video : https://youtu.be/V9D7GrUd87Q

[deepak-1530]

Can you try arming before turning offboard mode on?

[romaster93]

@deepak-1530

yes. Arming is possible before changing modes.
(The throttle speed is very slow when arming.)

However, the mode cannot be changed.