Been building and flying drones for many years. In recent years also started using Rover.
I have encountered an unusual issue linked to QGC:
I have a default altitude set in QGC. But recently when I have created a waypoint plan in QGC and vehicle set to “Rover”, I had a rather surprising result.- Rover appeared to go crazy, running in circles, not finding next waypoint and when finally on a waypoint, it was not recognized.
After downloading and analyzing a log, I did notice that all waypoints appear up in the air at the minimum altitude I have set in general settings.
Shouldn’t the “Rover” setting in Plan view pull all waypoints down to ground level?
Additional info: When just using a WP file it works as expected. Problem only occurs when using a .plan mission.
The difference between the .waypoints and .plan cases is probably the most useful clue here.
Before looking at the Rover navigation behaviour itself, I would compare the mission items actually produced by QGC in the two cases.
In particular:
altitude value for each waypoint
MAVLink frame (MAV_FRAME_*)
altitude mode / relative-altitude semantics
whether the QGC default mission altitude is being serialized into the .plan
the final MISSION_ITEM_INT values received by ArduRover
If the same ground waypoint is represented differently by .plan and .waypoints, that would help determine whether this originates in QGC mission generation or later in ArduRover mission interpretation.
Could you attach a minimal .plan that reproduces the problem and the equivalent working .waypoints file?
A 2–3 waypoint example should be enough. Comparing those side by side may expose the first difference immediately.
I would avoid changing the default altitude as a workaround until that comparison is done, because it could hide the serialization/interpretation issue rather than explain it.
