Hi @Yuri_Rage,
Thanks very much for the testing and feedback including the video.
I guess maybe the issue with the pivot turns is that it is not actually using the pivot turn controller but is instead falling back to the position controller. Maybe when your servo is replaced you could try adding a delay to the waypoint commands? The “delay” is the first field in the command.
Some warnings and known issues
Skid-steering vehicles will not pivot at a corner unless the waypoint command’s “delay” field (the first field) is set to 1 (or higher). I suspect I should change this behaviour so it is like master and pivots at any corner where the angle is at least WP_PIVOT_ANGLE.
I thought this might be confusing/annoying to have to add the “delay” but I also thought it might be interesting to see how the position controller did without the use of the pivot controller. I think we can safely assume the answer is, “not well” so I’ll modify the branch so that it always checks the angle of the next corner and uses the pivot controller if it is > WP_PIVOT_ANGLE.
Re the other two issues with SERVO_GPIO_MASK and disappearing missions, I’ll have a play and see if i can reproduce these. I suspect the SERVO_GPIO_MASK issue has been fixed in master and I’ll just need to rebase this PR.
Thanks again.