diff --git a/src/MissionManager/MavCmdInfoCommon.json b/src/MissionManager/MavCmdInfoCommon.json
index e098632cb04c10858387946ef44a65cf6834f796..8ba01705bb4d55a6087ec9b62de666abd26f2928 100644
--- a/src/MissionManager/MavCmdInfoCommon.json
+++ b/src/MissionManager/MavCmdInfoCommon.json
@@ -348,7 +348,7 @@
             }
         },
         {
-            "id":           94,
+            "id":           93,
             "rawName":      "MAV_CMD_NAV_DELAY",
             "friendlyName": "Delay until",
             "description":  "Delay unti the specified time is reached.",
diff --git a/src/MissionManager/SurveyMissionItem.cc b/src/MissionManager/SurveyMissionItem.cc
index 176282e0759cff4971f899fa3e0e3035245b8180..510e4f653a282b968f5f918de2c28c0e7e5c3cf4 100644
--- a/src/MissionManager/SurveyMissionItem.cc
+++ b/src/MissionManager/SurveyMissionItem.cc
@@ -853,8 +853,6 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
                                false,              // isCurrentItem
                                missionItemParent);
         items.append(item);
-#if 0
-        // Not yet supported by firmware
         item = new MissionItem(seqNum++,
                                MAV_CMD_NAV_DELAY,
                                MAV_FRAME_MISSION,
@@ -865,7 +863,6 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
                                false,              // isCurrentItem
                                missionItemParent);
         items.append(item);
-#endif
     default:
         break;
     }