offboard mode failover

1459453328.797812592, 20.008000000 ros.evae_controllers.MissionExecutor: [ INFO] New mission
1459453329.938242412, 21.000000000 ros.evae_controllers.MissionExecutor: [ INFO] Processing objective: CMD_DO_SET_MODE
1459453329.946163355, 21.007000000 ros.evae_controllers.MissionExecutor: [ WARN] Vehicle ARMED
telem> home: 29.5647996, -95.0812998, 4.65
INFO  TONE_SET_ALARM 3
INFO  ToneAlarm::start_tune
telem> INFO  ToneAlarm::start_note 11375
home: 29.5647996, -95.0812998, 4.65
INFO  TONE_SET_ALARM 6
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 38265
1459453329.958578396, 21.019000000 ros.mavros.cmd: [ WARN] CMD: Unexpected command 400, result 0
1459453329.987756121, 21.042000000 ros.mavros.fcu: [ INFO] FCU: [cmd] ARMED by arm/disarm component command
1459453330.037883407, 21.087000000 ros.mavros.fcu: [ INFO] FCU: home: 29.5647996, -95.0812998, 4.65
1459453330.087899404, 21.131000000 ros.mavros.fcu: [ INFO] FCU: home: 29.5647996, -95.0812998, 4.65
1459453332.135073454, 23.000000000 ros.evae_controllers.MissionExecutor: [ INFO] Processing objective: NAV_TAKEOFF
1459453332.150815655, 23.013000000 ros.evae_controllers.MissionExecutor: [ WARN] TAKEOFF request succeeded
WARN  navigator: got takeoff coordinates
WARN  taking off!
WARN  mavlink sim timeout for 10 ms
telem> TAKEOFF DETECTED
telem> home: 29.5647998, -95.0813000, 4.64
1459453332.546603367, 23.262000000 ros.mavros.fcu: [ INFO] FCU: TAKEOFF DETECTED
WARN  mavlink sim timeout for 10 ms
1459453332.596722825, 23.296000000 ros.mavros.fcu: [ INFO] FCU: home: 29.5647998, -95.0813000, 4.64
WARN  mavlink sim timeout for 10 ms
WARN  mavlink sim timeout for 10 ms
WARN  mavlink sim timeout for 10 ms
WARN  mavlink sim timeout for 10 ms
WARN  mavlink sim timeout for 10 ms
INFO  TONE_SET_ALARM 0
WARN  mavlink sim timeout for 10 ms
WARN  mavlink sim timeout for 10 ms
WARN  mavlink sim timeout for 10 ms
1459453336.763570676, 27.000000000 ros.evae_controllers.MissionExecutor: [ INFO] Processing objective: NAV_WAYPOINT
1459453336.768644835, 27.005000000 ros.evae_controllers.CoPilot: [ WARN] Connected
INFO  TONE_SET_ALARM 3
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 11375
1459453336.804835894, 27.037000000 ros.mavros.fcu: [ERROR] FCU: failsafe mode on
1459453336.854932737, 27.084000000 ros.mavros.fcu: [ERROR] FCU: RTL: climb to 34 m (30 m above home)
INFO  ToneAlarm::start_note 8522
INFO  ToneAlarm::start_note 8522
INFO  TONE_SET_ALARM 7
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 8522
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 8522
1459453338.919299338, 29.012000000 ros.evae_controllers.SetpointPublisher: [ WARN] Started
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 8522
INFO  ToneAlarm::start_tune
1459453340.020336820, 30.000000000 ros.mavros.time: [ WARN] TM: Clock skew detected (0.013691000 s). Hard syncing clocks.
INFO  ToneAlarm::start_note 8522
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 8522
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 8522
1459453342.203604108, 32.012000000 ros.evae_controllers.CoPilot: [ INFO] Command path primed
INFO  TONE_SET_ALARM 3
INFO  ToneAlarm::start_tune
INFO  ToneAlarm::start_note 11375
1459453342.247030370, 32.050000000 ros.mavros.cmd: [ WARN] CMD: Unexpected command 176, result 0
1459453342.275672987, 32.076000000 ros.mavros.fcu: [ERROR] FCU: failsafe mode off
INFO  ToneAlarm::start_note 8522
INFO  ToneAlarm::start_note 8522
telem> HIGH VIBRATION! g: 0 a: 22 m: 0
INFO  TONE_SET_ALARM 0
1459453344.336012970, 34.021000000 ros.evae_controllers.CoPilot: [ WARN] Vehicle OFFBOARD mode enabled
1459453344.336278805, 34.022000000 ros.evae_controllers.CoPilot: [ WARN] Armed
WARN  mavlink sim timeout for 10 ms
1459453351.842687206, 41.200000000 ros.mavros.time: [ WARN] TM: Clock skew detected (0.012511616 s). Hard syncing clocks.
WARN  mavlink sim timeout for 10 ms
1459453353.756943680, 43.023000000 ros.evae_controllers.MissionExecutor: [ INFO] Processing objective: NAV_WAYPOINT