I've put together a Rover which I want to navigate indoors. It uses an external computer running SLAM with a LIDAR sensor (which works great) I then package position information as GPS (NMEA) packages and feed it to ArduRover through the serial GPS port. Tracking has been tested and there are no issues there.

Where I'm having issues is navigating using waypoints, I place and write waypoints alright but when I go into Auto mode the orange line 'direc to current WP' always points off to about 86' and the rover just follows that line until it runs into something. I think this is more a mission planner thing than something to do with my SLAM system.

Has anyone seen this problem before? Any help would be appreciated.

here are some pictures, TOP: waypoints placed and written. BOTTOM: orange line 'direc to WP' after flicking into Auto mode and back