Hello, I’m facing an issue with QGroundControl (QGC) 4.2.8 while using ArduSub firmware 4.5.1. Specifically, Ignoring Command 22 is not processed in QGC 4.2.8 when running ArduSub 4.5.1. However, when I use ArduSub 4.1.2, the same command works fine.
how do resolve this issue?
Thanks
Hi @Sakthivelj,
If I’m understanding correctly ArduSub 4.5.1 is warning you that it’s ignoring your NAV_TAKEOFF (22) commands, which are likely included automatically in missions you try to set up in QGroundControl. Subs normally don’t “take off” anyway, so if this isn’t stopping your desired behaviour then it should be fine - 4.1 likely just ignores them silently instead of providing a warning about it.
@williangalvani mentioned that QGC may not allow you to start creating a mission without a takeoff command (as a hold-over from its primarily aerial-vehicle-based codebase), but you may be able to remove the takeoff command(s) after you’ve added other mission waypoints, if you’d prefer not to have the warning.
If you are actually trying to make use of takeoff functionality, can you explain what you’re trying to achieve that you can’t do with other waypoint types / commands? 
@EliotBR Thank you for the quick response.
I am performing path planning in auto mode, but I encountered an issue after upgrading to the latest firmware a few days ago. I never had this problem with ArduSUB 4.1.2.
I plan to test the system again without taking off. Since I haven’t faced this issue before, I am trying to understand the cause.
Could you confirm if the landing functionality is not working correctly in the ArduSUB firmware? Also, even with firmware version 4.1.2, does the system reach all waypoints but fail to return home, staying at the last waypoint instead?
Should I provide only the waypoints without using takeoff and landing?
Ok I will try it.
