DroneKit simple takeoff not working

I'm trying to make a simple Takeoff command.

Here is the code below:

ControlApi.getApi(this.drone).takeoff(10, new AbstractCommandListener() {
            @Override
            public void onSuccess() {

            }

            @Override
            public void onError(int executionError) {
                alertUser("Error: " + executionError);
            }

            @Override
            public void onTimeout() {

                alertUser("timeout");

            }
        });

Although I am managing to ARM the copter, the takeoff command always returns error, with executionError 3 or 4 and I don't know what it means? Any one have the executionError codes meanings? Or maybe know what is the issue?

[Solved]. Here is the steps that need to be taken in order the code to work:

1.

VehicleApi.getApi(this.drone).arm(true, new AbstractCommandListener() {
            @Override
            public void onSuccess() {

            }

            @Override
            public void onError(int executionError) {

            }

            @Override
            public void onTimeout() {

            }
        });

Make sure you get proper response in onSuccess method.

2.

VehicleApi.getApi(drone).setVehicleMode(VehicleMode.COPTER_GUIDED);

Here is where was my problem. I somehow managed to put the copter in Guided_NoGps According to Arducopter documentation, this mode can be put without sufficient GPS satellites count. Also you need a 3DFix in GPS to switch to Guided Mode. You need to make sure you have more than 9 stable satellites locks or this code just wont work.

3.

Run the code below

ControlApi.getApi(this.drone).takeoff(10, new AbstractCommandListener() {
            @Override
            public void onSuccess() {

            }

            @Override
            public void onError(int executionError) {
                alertUser("Error: " + executionError);
            }

            @Override
            public void onTimeout() {

                alertUser("timeout");

            }
        });

I have tested this on real quad-copter based on PX4 controller. Also you need ArduCopter version 3.4 (or above)