I built a surface vehicle that has an identical control system to the BlueROV: it uses the pixhawk with ardusub firmware as an autopilot, has 4 t200 motors in the BlueROV vectored configuration for movement, and is driven from QgroundControll. It has an on board quadcopter GPS, which I am trying to use for waypoint following. However, I can’t get it to work. I have tried programming way points in from qgroundcontroll, but nothing works. Does anyone know how to have the ardusub firmware go to waypoints?