Cannot change flight mode on Cube Blue with Ardupilot via MAVROS2

Hi, I have a problem using the mavros2 to control the ardupilot. I can only see the values coming from the ardupilot but cannot change flight mode (guided). Arming/disarming doesn’t work too.

I found some suggestions and updated them in the mission planner.

  1. update SR2_**
  2. set SYSID_THISMAV as the same as target system_id

Could anybody help me out?
I uploaded my param file here copter_.param (17.4 KB)

xx@xx-desktop:~/mavros_ws$ ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{base_mode: 0, custom_mode: 4}"
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
requester: making request: mavros_msgs.srv.SetMode_Request(base_mode=0, custom_mode='4')

response:
mavros_msgs.srv.SetMode_Response(mode_sent=True)
xx@xx-desktop:~/mavros_ws$ ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "value: False"
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
requester: making request: mavros_msgs.srv.CommandBool_Request(value=False)

response:
mavros_msgs.srv.CommandBool_Response(success=False, result=0)
xx@xx-desktop:~/ardupilot$ ros2 topic echo /diagnostics 
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
header:
  stamp:
    sec: 1722931245
    nanosec: 463626517
  frame_id: ''
status:
- level: "\0"
  name: 'mavros_router: MAVROS Router'
  message: ok
  hardware_id: none
  values:
  - key: Endpoints
    value: '2'
  - key: Messages routed
    value: '13477'
  - key: Messages sent
    value: '13477'
  - key: Messages dropped
    value: '0'
- level: "\0"
  name: 'mavros_router: endpoint 1000: /dev/ttyTHS0:115200'
  message: ok
  hardware_id: none
  values:
  - key: Received packets
    value: '13301'
  - key: Dropped packets
    value: '0'
  - key: Buffer overruns
    value: '0'
  - key: Parse errors
    value: '0'
  - key: Rx sequence number
    value: '92'
  - key: Tx sequence number
    value: '0'
  - key: Rx total bytes
    value: '399323'
  - key: Tx total bytes
    value: '3945'
  - key: Rx speed
    value: '3873.000000'
  - key: Tx speed
    value: '21.000000'
  - key: Remotes count
    value: '3'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '1.0'
  - key: Remote [2]
    value: '1.1'
- level: "\0"
  name: 'mavros_router: endpoint 1001: /uas1'
  message: ok
  hardware_id: none
  values:
  - key: Remotes count
    value: '3'
  - key: Remote [0]
    value: '0.0'
  - key: Remote [1]
    value: '1.0'
  - key: Remote [2]
    value: '1.191'