I have been simulating a drone in Gazebo 7.0 using Mavros with Ardupilot. Most modes work properly, but I have a problem with the Circle mode. From the Ardupilot documentation, I understand that the nose of the drone should always be pointing towards the center of the circle, which is not the case for me. The drone is circling fine, I have no error messages anywhere, but its nose is always pointing forward instead of towards the center of the circle. I am not overwriting any yaw commands from the autopilot so it looks like this could be a bug in the Gazebo + mavros/SITL setup. Here is my small script if you want to take a look.
If anyone has any ideas or has tried using Circle mode in Gazebo and can tell me how it went, that would be great! Any help is greatly appreciated!