ROI not performed in v1.9.2

[hangmann]

Hi all, I am using a holybro pixhawk 4 with px4 version 1.9.2 (px4_fmu-v5_multicopter.px4). I wanted to try ROI by yawing the copter instead of a gimbal.

Describe the bug I noticed that ROI is not performed between two waypoints. Hence, the copter's nose is not pointing towards ROI, but instead towards the next waypoint.

To Reproduce Steps to reproduce the behavior (with Airsim simulation):

1. Uploaded mission in QGC (see attachment mission.txt)
2. Started mission
3. Took off
4. See if ROI works Observations:
5. Waypoint 1 is reached.
6. Copter is oriented towards Waypoint 2
7. Copter flies towards Waypoint 2 (nose headed towards it)
8. Waypoint 2 is reached.
9. Mission ended -> RTL

Expected behavior The ROI from the exact same mission is performed as intended with the firmware 1.8.2: The copter's nose is pointing towards ROI while flying to Waypoint 2. Hence Reproduce step 6 should be "oriented towards ROI"

Drone (please complete the following information):

• I first noticed the behavior with my Hexacopter Y6
• All further tests were done (with the exact reproduced problem) inside simulation (Airsim HIL)
• Both cases: Firmware 1.9.2, px4_fmu-v5_multicopter.px4 not working, and px4_fmu-v5_default.px4 1.8.2 working

Log File I will simulate the mission again, and hand in the log file asap

[julianoes]

Thanks for reporting. @MaEtUgR @bresch

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