Takeoff and Smooth Takeoff functions

[Marnonel6]

Problem

Arming and off-board control does not always work.

Current implementation

Wait some time (1second I think) then arm and switch to off-board control.

Proposed solution

Wait 1 second then arm the drone and subscribe to the drone mode status and see if the drone is armed and that it is off-board mode if it is not then wait 1 second again and retry. Have a max number of retries say 5 then if it still is not armed then stop everything and indicate that drone does not want to arm.

[Marnonel6]

The take-off command does not work ->
I am trying the automatic take-off command for PX4 v1.14.0-rc with ROS2 Humble in SITL with Gazebo Garden.

I am using the command VehicleCommand with the command type VEHICLE_CMD_NAV_TAKEOFF.

Parameter reference for lat, lon and altitiude:
https://docs.px4.io/v1.12/en/advanced_config/parameter_reference.html#data-link-loss
My problem is that when the drone is on the ground I see a altitude of +- 480000 [mm] I figured this out by finding out that the simulator is in Zurich. Then I command the drone to go to 490000[mm] thus go up with 10m. The drone arms and switches to Take-off in QGC but does not take-off. WHen I change the altitude to >=580000 then the drone takes off and FLY's up forever.

Any help with the ros parameters there is not a lot of documentation anywhere