Thanks a lot for the link and your comments about parameter adjustments, not only valuable for car behaviour improvements, but also for understanding their meaning towards a better knowledge of all this. I will test these changes shortly.
In fact, the steering oscillations are clearly seen on some instants on the videos, and I had occasionally seen them also in the big circuit.
However, I’d like to know how to make the car behave always the same, good or bad, but the same. There are good laps and bad laps, and the second run is better on the average. There are more satellites on the average on the second run, and the tlog part of the videos (starting on both at 20") clearly show the good and the bad laps.
The 2m wide R/C car circuit is on a corner, surrounded by tall trees.
HDop is on the average better on the second run:
Observe carefully instants following t=165 on the second run:
While in a good lap, the car suddenly loses trajectory and then recovers. Down and left in the video are shown HDop and Sats, which increase and decrease briefly respectively and then recover. This is a capture once recovered:
(Captured after recovery)
The car is using three compasses (the one on the RTK GPS is not connected):
-Two external at the front bumper, away from the motor.
-The Pixhawk internal one (perhaps should be disabled).
The GPS is above a copper plane, now floating. Perhaps it should be grounded, and the GPS ground connected directly to it.
Would it be convenient or possible to filter the GPS or compass data to avoid sudden trajectory changes?
BTW, this is the version used:
ArduRover V3.5.0-rc1 (f53c86f5)
PX4: bcbd027a NuttX: 1472b16c
PX4v2 00320046 35365118 37353630
With NuttX, no µSD card logging problems.