Are there any bugs in the code when executing the mission backward?

ArduRover
1

What I want to achieve the rover keep facing towards A while moving back to B.
It’s OK when the rover enters forward to run the waypoint mission. But when it moves backward executing the mission, not on the AB line,the route is very crooked.
Are there any bugs in the code when executing the mission backward?

mission
mission467×536 107 KB

https://pan.baidu.com/s/1FFN1xeKdke3OdR9xCkLLFw

Firmware version: ArduRover v3.5.1

2

Hi.
Sorry, i can’t help you. But i want to ask how you reach to go backward. I’m traying to do it but i’m not able.