The video above is a first test of my “box boat” which is a waterproof box with two thrusters on the bottom, a Cube autopilot running Rover-3.3-dev firmware. I drove it around in manual, acro and then successfully tested RTL and Auto.
It worked pretty much as expected with the exception that it weaves a bit between waypoint. The issue here is (I think) we need “heading hold” added between the navigation and low level turn-rate controller. This will make driving the vehicle around in Acro and Steering modes much easier but it will also allow us to catch and correct any heading errors before they build up into position error (at which point the navigation controllers notice and correct them).
P.S. apologies for the mediocre video quality. I have a new camera coming for future videos.