# Vehicle doesn't switch to guided mode for the purpose of mission planning **URL:** \ **Category:** ArduSub\ **Tags:** ardusub\ **Created:** [November 30, 2022, 12:03pm UTC](https://discuss.bluerobotics.com/t/vehicle-doesnt-switch-to-guided-mode-for-the-purpose-of-mission-planning/13292 "2022-11-30T12:03:11Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![Bren](https://avatars.discourse-cdn.com/v4/letter/b/50afbb/32.png) [@Bren](https://discuss.bluerobotics.com/u/Bren)\ **Post date:** [November 30, 2022, 12:03pm UTC](https://discuss.bluerobotics.com/t/vehicle-doesnt-switch-to-guided-mode-for-the-purpose-of-mission-planning/13292/1 "2022-11-30T12:03:12Z")
Is there any update related to guided mode for mission planning in QGC? I can switch from manual to stabilise mode and vice versa but cannot switch to guided mode in the QGroundControl interface. GPS is connected to my BlueROV2. And Guided mode has been set to “ON”, however control doesn’t switch to guided mode. Hence, the ROV doesn’t follow the trajectory in the mission plan. I receive this error: “Unable to start mission: Vehicle failed to change to Guided mode” ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [November 30, 2022, 12:18pm UTC](https://discuss.bluerobotics.com/t/vehicle-doesnt-switch-to-guided-mode-for-the-purpose-of-mission-planning/13292/4 "2022-11-30T12:18:54Z")
Hi, Can you share a log? What kind of GPS do you have connected? ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [December 1, 2022, 8:05am UTC](https://discuss.bluerobotics.com/t/vehicle-doesnt-switch-to-guided-mode-for-the-purpose-of-mission-planning/13292/5 "2022-12-01T08:05:42Z")
Hi @Bren, welcome to the forum 🙂 I’ve merged your two identical comments into this post, since they’re on the same topic - it’s better to have one comprehensive discussion on an issue than several fragmented ones. > [@Bren](#): > > Is there any update related to guided mode for mission planning in QGC? I’m not really sure what you mean by this. Perhaps this comment is relevant: > [@Planning path problems](https://discuss.bluerobotics.com/t/planning-path-problems/13184/5): > > ArduSub has some positional control modes (see [`control_*.cpp`](https://github.com/ArduPilot/ardupilot/tree/master/ArduSub)) and [commands](https://github.com/ArduPilot/ardupilot/blob/master/ArduSub/commands_logic.cpp) implemented (including things like mission following and the circle control mode), but they haven’t been extensively validated on our end so we present them as developmental rather than stable and fully supported. > > … > > you _should_ be able to do waypoint following in QGC, but there may be unexpected issues or buggy behaviour that occur when trying to do so (in which case please report them and we can try to work together to fix them - as with any other issues). As far as I know Guided mode should be possible to switch into, but I believe it’s for enabling direct positional and velocity control commands, whereas mission following requires sending a mission to the autopilot and then switching the vehicle into Auto mode to (autonomously) follow the mission waypoints (@williangalvani please correct me if that’s wrong). It would be likely useful if you can provide 1. Your ArduSub version 2. The positioning sensor(s) you’re using (and how they’re connected) 3. A telemetry log It’s worth noting that the position-based control modes require a stable and trusted positioning estimate, and may require some other safety based conditions/parameters. Ignoring missions, do you get a more descriptive error when you try to just put the vehicle into guided mode (or poshold) yourself, with a joystick button function? ---
**Author:** ![clyde](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/clyde/32/8563_2.png) [@clyde](https://discuss.bluerobotics.com/u/clyde)\ **Post date:** [January 6, 2024, 5:55pm UTC](https://discuss.bluerobotics.com/t/vehicle-doesnt-switch-to-guided-mode-for-the-purpose-of-mission-planning/13292/6 "2024-01-06T17:55:37Z")
Hey, I’m coming late to the party, but this is the top search result for “guided mode”, so I thought I’d leave a breadcrumb for others to follow. For folks trying to get guided mode to work with QGC, you’ll need QGC 4.2.7 or later. The change log is here: [Comparing v4.2.6...v4.2.7 · mavlink/qgroundcontrol · GitHub](https://github.com/mavlink/qgroundcontrol/compare/v4.2.6...v4.2.7) /Clyde ---
**Author:** ![AndresFrancisco](https://avatars.discourse-cdn.com/v4/letter/a/e274bd/32.png) [@AndresFrancisco](https://discuss.bluerobotics.com/u/AndresFrancisco)\ **Post date:** [January 7, 2024, 1:21am UTC](https://discuss.bluerobotics.com/t/vehicle-doesnt-switch-to-guided-mode-for-the-purpose-of-mission-planning/13292/7 "2024-01-07T01:21:53Z")
Hello, could you explain how your method works to make guided mode work, I also have the same problem, I try to execute a mission and I get a command failed message.