Questions about rover reverse

hi everybody,
I would like to use reverse feature on my rover to not execute turns every time it finishes a row ( it robot thought for agriculture). i was wondering if DO_SET_REVERSE takes into account also that the heading is reversed so that is possible to use reverse mode in auto mode.
Furthermore, it is true that the “Brushed motors with relay” motor type uses AUX1 output to trigger the reverse relay? how can I see its output on the Mission planner Status window?

ps I am using cuav v5 nano for this project.
grazie, hope to hear from you soon,