[Bug] Vectornav make UAV's heading stuck at the initial angle during Mission mode

[saengphet]

Describe the bug

I also found that after enabling the Vectornav (VN_MODE), either with INS or Sensor only, the quadrotor exhibits weird behavior in Mission mode, with the UAV's heading stuck at the initial angle, no change during the circuit pattern (rectangular) flight path. However, if the UAV is flown in Stabilize, Altitude, and Position mode, the heading/yaw can be controlled by the pilot as normal behavior. Disabling Vectornav makes the quadrotor fly normally again in mission mode; it yaws into the correct angle as normal.

To Reproduce

Connect and enable the VectorNav, then fly the quadrotor in Mission flight mode.

Expected behavior

The quadrotor can yaw along the waypoint as normal during Mission flight mode.

Screenshot / Media

No response

Flight Log

VN_MODE = INS
https://review.px4.io/plot_app?log=db247caa-c71f-4388-9324-aad943e7e5ff

VN_MODE = Sensor only
https://review.px4.io/plot_app?log=5c7e946a-335d-4c9d-bfa1-8d58e6b61804

Software Version

v1.15.0

Flight controller

Pixhawk 4

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[bresch]

It's stuck because heading_good_for_control is false. Apparently, this is only set to true in the VN driver when in "tracking" mode:
https://github.com/PX4/PX4-Autopilot/blame/bae1b25b0cb63ab47f6043dd1d19ca76361d2841/src/drivers/ins/vectornav/VectorNav.cpp#L308
I've never used the VN sensors, so I don't know when it's supposed to be in "tracking" mode.

[saengphet]

@bresch Thank you for your help. I will find a thing in the driver that relates to "tracking mode."
It seems relate to heading has high uncertainly, then *test_ratio = 0.99

	// mode_aligning.
	//  - attitude good
	//  - position and velocity are good
	//  - heading determined largely by mag and not by GPS
	//  - heading has high uncertainly (yaw is good for control)