MAV_CMD_NAV_WAYPOINT in GUIDED rejected

@jhaws wrote:

I’m trying to send a MAV_CMD_NAV_WAYPOINT command from my C application using the following call:

    mavlink_msg_command_int_pack(m_sysId, m_compId, &msg, m_sysId_UAS,
    m_compId_UAS, MAV_FRAME_GLOBAL, MAV_CMD_NAV_WAYPOINT, 2, 0, 0, 10, 0, 0,
    static_cast<int32_t>(lat_deg * 1e7),
    static_cast<int32_t>(lon_deg * 1e7), alt_m_msl);

However, the simulation rejects the command with MAV_RESULT_UNSUPPORTED (3). I’ve verified that the simulation is in guided mode and the aircraft is simply loitering near the home point. Does this have to be wrapped in a full mission setup? If so, can someone point me to an example of how that is done?

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