AR_WPNav: Issue with WP_SPEED_MIN unintentionally being applied in reverse

[jimovonz]

Bug report

Rover can randomly go into reverse indefinitely during an AUTO mission when WP_SPEED_MIN is set.

Also reported here: https://discuss.ardupilot.org/t/rover-randomly-backs-up-during-mission/59132/2

Pull request to fix the issue:
#14839

Version
master

Platform
[ ] All
[ ] AntennaTracker
[ ] Copter
[ ] Plane
[ X ] Rover
[ ] Submarine

[rmackay9]

I've reproduced the issue after applying PR #15951. The steps are:

• create a simple mission with 1 ahead of the vehicle
• param set WP_SPEED_MIN 0.5
• arm
• acro
• rc 3 1000 (to cause the vehicle to reverse in acro mode)
• auto

The vehicle will not progress towards the waypoint but will instead keep reversing at the WP_SPEED_MIN parameter value

[rmackay9]

I've got a fix for this now included in PR #15951

[rmackay9]

This is resolved in master now so closing, thanks!