No more learning mode in latest firmware

With the latest ArduRover firmware 3.4 the learning mode is gone but the save waypoint is there and how do we use it? is there a document on this?

Thanks,

Jimmy

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Rover spin around in Auto mode

In can control the Rover in manual mode with no problem but when switch to Auto mode it keep spinning around. Got fixed GPS, can anyone provide some insight? 

APM 2.6
Sabertooth 2x12RC mixed mode

 

Thanks!

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