Hello everyone,

I am trying to simulate a quadrotor on Gazebo with offboard mode and navigate the drone with roll, pitch and yaw commands with thrust. I am publishing these commands to "/mavros/setpoint_raw/attitude" topic and when the quad has a GPS onboard, I have no problems setting the attitude.

The problem occurs when I remove the GPS from model file, throwing an error : requesting home position. I tried setting EKF2GPSCHECK to 0 but still had no luck.

Does anyone know how can I get the drone airborne without GPS? or is there any other way other than publishing the aforementioned topic ?

Regards, Furki