Rover without direction in auto mode f.3.1.2 rover or FLIGHT CHANGE MODE FAILED f.3.2.3

I have a rover with 3.1.2 firmware, manual runs 100%, but when I switch to auto or rtl the motor is triggered but it does not change direction, it just goes straight. I already tried changing the NAVL1_PERIOD with several values and nothing. Can someone help me. I tried to put the firmware 3.2.3 and 3.3.0 but it does not trigger the auto or rtl, it says “FLIGHT CHANGE MODE FAILED” even in an open place with 100% gps. Please, what parameters should I change ?? or configure it right.

thank you.