Thanks Jacob. I’ll dig into the source code and see what I can figure out. I suppose another option would be to forgo the gps modes and use depth/height hold mode and then basically use my own code to poll the current gps mode, set a heading, drive forward, poll the gps, and repeat. Basically that would be writing my own guided mode. Is it possible to set a heading using the onboard IMU/Compass via pymavlink. I recall seeing a post about that (Sending MAVProxy messages from a python program? - #32 by jwalser). If I’m understanding that correctly, I can’t set heading to 37° but that I would poll the ROV and get the current heading, then apply yaw to adjust the heading, poll the ROV for the heading again, and keep adjusting until it matches and then set yaw to 0. Would this be a better option? Basically it reverses my plan and uses the more stable depth hold mode to fly straight and follow the terrain and then i change my heading/bearing in order to get to my coordinate.
Thanks again for your help! I’ve got 4 days this week dedicated to sitting next to a pool and get this all figured out.