Bugreport: uncontrolled drone spin in heading_mode auto

[PabloRauhCorro]

I've written some code to generate random trajectories. With some of the .yaml path files I created in this way, the drone spins in an uncontrolled and undesired way. This happens on some files where the heading_mode is set to auto. A visual example of this behavior is provided in the link below.

https://youtu.be/kjplKcpu0gE

This is my path file:

coordinate_type: enu easting:

• 0
• 0.16567263419486064
• -0.07491392726915769
• -1.1939595158945222
• -2.577175933356738
• -3.6962215219821024
• -4.123658901876358
• -3.6962215219821015
• -2.5771759333567372
• -1.1939595158945218
• -0.07491392726915747
• 3.6061159175919237
• 2.3181099069335493
• -0.7163541665487414
• -3.038668591319742
• -5.909207085465019
• -8.23152151023602
• -9.11856668793438
• -8.231521510236018
• -5.9092070854650185
• 4.952523834365812
• 4.067708086856618
• 1.7512303860964038
• -1.1120935204056375
• -3.428571221165852
• -4.313386968675046
• -3.428571221165853
• -1.1120935204056386
• 1.751230386096403
• 1.537100067219777
• 0.7630114976942819
• -1.2635786876262511
• 0.5941319717924181
• 6.479228462119423
• 7.9350147176666255
• 6.877626086434503
• -1.0706287871455884
• -2.311796544013406
• -3.8459642629829593
• -5.087132019850777
• -5.561215917233817
• -5.087132019850776
• -3.845964262982959
• 1.423471553843671
• -0.7875789175148433
• -3.520587601796918
• -5.731638073155432
• -0.6568193144711483
• 5.364887682706369 heading:
• 0
• 0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0 heading_mode: auto height:
• 1
• 1.980647280453228
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.175351887354834
• 5.985376901561958
• 10.730641796415796
• 5.005270034968101
• 5.177509271897176
• 5.349748508826251
• 5.521987745755326
• 5.694226982684402
• 5.866466219613477
• 6.0387054565425515
• 6.810983861434001
• 6.675794058991279
• 6.540604256548558
• 6.405414454105836
• 6.270224651663114
• 6.135034849220393
• 5.999845046777671
• 5.86465524433495
• 5.729465441892227
• 5.335786489680126
• 5.335786489680126
• 5.335786489680126
• 6.987389655455157
• 4.474263191792945
• 2.0974704372427997
• 3.095604806883272
• 3.8611039438345793
• 3.8611039438345793
• 3.8611039438345793
• 3.8611039438345793
• 3.8611039438345793
• 3.8611039438345793
• 3.8611039438345793
• 4.914441051422967
• 4.914441051422967
• 4.914441051422967
• 4.914441051422967
• 3.1296452501471244
• 3.0964321622929663 intermediate_pose_separation: 0.1 intermediate_poses: false landing_height: 1.0 northing:
• 0
• 0.10432396473784926
• -3.201084711899508
• -4.014118922812627
• -4.014118922812626
• -3.201084711899507
• -1.8855677246256295
• -0.5700507373517518
• 0.24298347356136762
• 0.24298347356136718
• -0.570050737351752
• 0.007936538774406587
• -0.9278546042954279
• -7.203982178525324
• -8.891242371521763
• -8.891242371521761
• -7.203982178525323
• -4.473937838392379
• -1.7438934982594354
• -0.0566333052629977
• 0.31956843284538294
• 3.0427512923878446
• 4.725770857166217
• 4.725770857166217
• 3.042751292387845
• 0.3195684328453835
• -2.4036144266970783
• -4.086633991475451
• -4.086633991475451
• -2.5160803034212886
• -0.13368065667713003
• 1.3387232997965026
• 4.322056988205045
• 7.42069758105189
• 1.669555103261878
• -6.37602771578659
• -4.537960609713848
• -5.439721769467335
• -5.439721769467335
• -4.537960609713847
• -3.078880403498182
• -1.6198001972825162
• -0.7180390375290293
• -4.753328977933592
• -6.359751176941851
• -6.359751176941851
• -4.753328977933591
• 1.664405190951772
• -2.236766865652995 path_mode: polynomial reference_acceleration: 1.8398138694886956 reference_speed: 5.290921305929722 takeoff_height: 1.0