# GPS-denied offboard mode and MAVROS configuration on VOXL

Source: https://forum.modalai.com/topic/3848/gps-denied-offboard-mode-and-mavros-configuration-on-voxl
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-10-04 23:52:00 UTC by LR
Replies: 2 · Views: 718

## LR · 2024-10-04 23:52:00 UTC

Hello, I have a Seeker with VOXL v1.12.0 installed. 

I'm trying to control it with ROS using MAVROS. I can run it in the kinetic docker but not on the VOXL itself, do you know if there is a way to do it?
Also, I'm trying to use the drone for indoor applications, I tested the code in gazebo and everything works fine, but when I test it on the drone, I can switch to offboard mode but mavros keeps asking me for a GPS signal and the drone arms but doesn't take off... is there a way to disabilitate the GPS?

## Reply by LR · 2024-10-25 16:51:14 UTC

When I attempt to use my drone for GPS-denied applications indoors with QGroundControl (QGC), I am unable to switch to offboard mode. However, it works perfectly fine outdoors. My question is whether there are specific PX4 parameters I need to change or if my Visual Inertial Odometry (VIO) is not functioning correctly.

## Reply by coreyazion · 2024-10-28 03:35:15 UTC (in reply to LR)

@LR

Are you able to fly seeker indoor (for which no GPS available) with Position mode?

If not, for seeker to use VIO as position estimate you need to use [this set of parameter](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.12/ekf2_indoor_vio.params?ref_type=heads)  for px4.