# Offboard mode and figure 8

Source: https://forum.modalai.com/topic/792/offboard-mode-and-figure-8
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: rb5
Posted: 2022-03-08 18:38:56 UTC by umlr
Replies: 2 · Views: 966

## umlr · 2022-03-08 18:38:56 UTC

I was trying to fly in offboard mode and I had a very weird behavior. I'm wondering if the drone is not trying to do a figure 8 when switched to offboard like by default with the VOXL.

I tried sending a zero velocity command with MAVROS but the drone is still moving. Looking at the log I see a position setpoint for x,y,z (while I'm only sending velocity). I can also see the zero velocity setpoint (for vx, vy, vz) fighting with some other setpoint value.

I also want to add that I set the PX4 parameters according to documentation and that position flight mode is working fine and very stable.

Is the RB5 also doing a figure 8 when switching to offboard and how to deactivate it to use input from MAVROS instead? It doesn't have an equivalent to voxl-vision-px4 configuration file.

## Reply by Guest · 2022-03-10 22:27:20 UTC

Hello,

In our current release, the rb5 will do a figure 8 when in offboard mode by default. Currently there is no way to disable this.

We do however have an updated version of rb5-qvio-server (0.0.7) that'll have figure 8 mode disabled by default. To enable figure 8 mode in this release, you'd use the ```-f``` flag to do so. This updated version can be [downloaded here](https://storage.cloud.google.com/modalai_public/rb5-flight/preview-releases/rb5-qvio-server-0.0.7.deb). This version of rb5-qvio-server will be included in the next sdk release, but for now it should help you disable figure 8 mode.

## Reply by stevedan · 2022-08-11 14:10:18 UTC

We cannot access the download, it requires authentication. Is there a fix for this issue?