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What is the status of "Delay" and "Delay until" in QGC?

I am testing out mission planning in QGC (downloaded from the ArduSub website yesterday) and SITL using a Windows 10 laptop. So far, most features of Plan/Fly view work (I am using ArduSub 4.0.1). I can program missions with “Delay” and “Delay until” but in Fly view.

  • When the AUV encounters “Delay” or (“CondDelay” in the MAVProxy console), QGC and the console both give the warning “BAD NAV AltFrame 0” and the AUV skips to the next waypoint.
  • When the AUV encounters “Delay until” (or “Delay” in the MAVProxy console), QGC and the console both give the warning “BAD NAV ALT [some number]” and the AUV skips to the next waypoint.

I am particularly interested in “Delay until” in QGC. What can I do to get it working?