We re trying to understand more about the MAV_CMD_NAV_SET_YAW_SPEED command. We send it repeatedly(once per second) but we are having issues with it working. We are unsure what the units for the speed are. Is it an actual speed in m/s or a fraction of full throttle? If anyone has an example it would be greatly appreciated!


Sorry for long response …
Which version of ardurover are you using ?
On 3.1.2 : the behaviour of speed is : the param should be between 0 and 1
speed param in the message gives speed as a proportion of cruise speed.
0.5 would set speed to the cruise speed
1 is double the cruise speed.