Thanks so much ! Using your parameters file indeed enabled me to use Guided and Circle modes. These modes are even better coded than for ArduCopter, in Circle mode the drone doesn’t face the center of the circle like it’s supposed to, but the BlueRov does
However something in your parameters must have upset my mavros because WP is now timing out after saying seq mismatch, which did not use to happen before:
[ INFO] [1517416222.794911362, 16.035000000]: WP: item #0 F:0 C: 16 p: 0.000000 0.000000 0.000000 0.000000 x: 33.810314 y: -118.393867 z: 0.360000
[ WARN] [1517416222.829334593, 16.042000000]: WP: Seq mismatch, dropping item (0 != 1)
[ WARN] [1517416222.829599118, 16.043000000]: WP: Seq mismatch, dropping item (0 != 1)
[ WARN] [1517416224.472186734, 17.035000000]: WP: timeout, retries left 2
[ WARN] [1517416226.133008380, 18.035000000]: WP: timeout, retries left 1
[ WARN] [1517416227.774312407, 19.035000000]: WP: timeout, retries left 0
[ERROR] [1517416229.401152090, 20.035000000]: WP: timed out.
Any idea what it could be ? And the rover in circle mode drifts a lot, the center of the circle moves to the right about 2 meters or so for each circle, maybe something needs to be tuned ?
Thanks again for your help !