Issue Details
Running a rover with MAV_CMD_NAV_GUIDED_ENABLE waypoints (3.6.0-dev guided-within-auto) to hand control to an external controller will result in the NAV_CONTROLLER_OUTPUT message being sent without calculating the various error values (particularly xtrack_error, wp_dist) in the message. These values will instead be zero, but they are still useful to an external controller and should be calculated and included, particularly since the message is output anyways.
Bug
Issue Details Running a rover with
MAV_CMD_NAV_GUIDED_ENABLE
waypoints (3.6.0-dev guided-within-auto) to hand control to an external controller will result in theNAV_CONTROLLER_OUTPUT
message being sent without calculating the various error values (particularlyxtrack_error
,wp_dist
) in the message. These values will instead be zero, but they are still useful to an external controller and should be calculated and included, particularly since the message is output anyways.Example Using SITL to demonstrate; Waypoints:
When switched to AUTO (and so targeting waypoint 1) and arming successfully,
NAV_CONTROLLER_OUTPUT
is:The error fields above are zero, which is incorrect. Switching to normal waypoints (16) results in the expected output.
Platform [ ] All [ ] AntennaTracker [ ] Copter [ ] Plane [x] Rover [ ] Submarine