I want to try to make a waypoint mission in the mission planner, but I get an error, is there anyone who can help solve this problem?
Big age gap is not only bad in marriages but also causing problems with Arducopter and Mission Planner. You should get a Mission Planner from the historical period which matches you flight controller firmware (which is around five years old).
You can access old releases of Mission Planner from here : https://firmware.ardupilot.org/Tools/MissionPlanner/archive/ a version around 1.3.3x will do.