Hi!
I have a BlueROV2 heavy configuration with the Navigator and am trying to use it in GUIDED mode via Mavros. I have integrated a DVL-a50 and no GPS. My goal is to be able to set waypoints relative to its local coordinate system.
I am able to set the rov in GUIDED mode however as soon as I arm it, the thrusters goes in full force down without me setting any waypoint. I have tried limiting the speed with WPNAV_SPEED, WPNAV_SPEED_DN and WPNAV_SPEED_UP but still the same behavior. It seems that if it has a preset waypoint which I am unable to find what it is and also to override.
So my main key take away I would like from this is to get a better understanding of how GUIDED mode works for Ardusub. How do you set a waypoint? How do you get the current waypoint? How do you constrain its behavior with parameters? And this using mavros/mavlink.
Hope anyone can help with this.