Hi,
Sorry, I pressed send too early by mistake.
The copter is in guided mode (based on CX-OF and Lidar)
I’m sending SET_POSITION_TARGET_LOCAL_NED with
coordinate_frame = 8;// (MAV_FRAME_BODY_NED)
type_mask = 1479/// (ignore position, ignore acceleration, ignore yaw)
vx=1;
vy=0;
vz = 0;
yaw_rate = 5;
The message is sent 20 times per second.
With arducopter 3.6.12 everything worked fine. Then one day the yaw_rate command started to be ignored.
As per your suggestion, I installed version 4.03 and requested POSITION_TARGET_LOCAL_NED messages with set_message_interval.
The resulting POSITION_TARGET_LOCAL_NED message returns
coordinate_frame=1
type_mask = 3049 (corresponds to ignore all but velocity)
vx = 0.99
vy = -0.1
vz = 0
yaw = 0
yaw_rate = 0