After switching the USV to GUIDED mode, it keeps moving in a certain direction on its own. I suspect it is heading toward the home point, and I am not controlling it at all

Sub Sub 4.7
1

Hello, I have observed the following phenomenon: the home point keeps changing, wp_dist is not zero, and the stationary boat on the map appears to drift away from the home point. The boat shows a velocity even when it is actually stationary, and the direction of the heading line matches the thrust direction of the propellers.As a result, when the USV is switched to GUIDED mode, it keeps moving in a certain direction on its own without any control input from me. I suspect this is related to the home point. What is the cause of this issue and how can it be resolved? Thank you.

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Hi @XL-LLL,

So I guess the vehicle is a boat rather than a submarine? If yes then we should probably discuss this in the Rover or boat forums.

When reporting an issue it’s best to include an onboard log which provides a huge amount of information required for analysis.

I suspect you’re also just using SITL not a real vehicle? .. and maybe you’ve turned off GPS?

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