@mcelhennyi wrote:
I have a skid steer rover running a 4.0+ branch firmware with some fixes that @stephendade had made to get the EKF to initialize without GPS.
When I send a set point using a position and a yaw the rover will go to that position, but not end up with that yaw. However when I bit mask to ignore the position and just yaw in place, that does work.
The way I understood, with ArduCopter, was that the vehicle would try to attain the requested position at the yaw specified. The way ArduCopter, seemingly, accomplishes that is to yaw, then fly to the point. However, the rover of course can not yaw to the desired yaw then travel to the point. So it would need to first travel to the point, then yaw in place to get to the desired yaw. This however, does not happen.
I am unsure if I am misunderstanding how the rover is intended to work, or if this is a bug.
If the goal is that the arducopter and ardurover have essentially the same interface and a setpoint message to one or the other creates the same real world output then this would seem like a bug.
However if they are meant to handle the set points differently then I should break my pos+yaw set points into a sequence of pos then yaw commands, so that I can achieve a yaw at a given position.
Thoughts?
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