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2017-11-28 02:25:47 -0600 answered a question Difficulties to takeoff in offboard mode through mavros

did you solved this issue? I have same problem

2017-08-16 20:32:26 -0600 commented answer Configure frame IDs for mavros local_position/odom

I'm not familiar with yaml files can you explain how little further? is changing parameter through launch file to frame_