Hello to the forum! First time posting (so exciting), but have been perusing and learning for the past few years.
TL;DR: First time with Rover. Two issues with Traxxas X-Maxx, log/ params at bottom:
- Seems to be tuned well in Throttle and okay in Steering, but the nav tuning seems off. Large overshooting when approaching a turning WP – instead of inscribing the turn, it overshoots and has to perform an opposite turn to go back to the path. 50m squares look like diamonds.
- ESC (VXL-8S) allows braking, but braking only works when in reverse (even in Manual mode). Definitely works when ESC connected directly to RC receiver.
More background if interested…
I’m very familiar with ArduCopter and the tuning steps involved with that, but this is my first foray into Rover. I was hoping someone could provide some guidance on what I might be doing wrong here…
I have a (modified) Traxxas X-Maxx that I’ve shoved a Pixhawk 4 on. Currently running 3.5 because that’s what I’m used to with my copters, and I don’t think there are any upgrades in 4.0 that help me here (but if I’m wrong please let me know).
From Copter I’m used to the vehicle inscribing and not overshooting WPs (a square planned flight path should look like a rounded square when the vehicle performs it, not a diamond or oozing square). Should this behavior also be expected from Rover? Could it be due to rough terrain (chunky grass) and not-perfect steer tuning?
I’ve attached the log and params from a recent auto route here. How can I make the path inscribe and not overshoot these types of missions? I’ve tried the following extreme settings (seen in params):
- WP acceptance high (5m, have tried 8m)
- Nav period extremely low (1.0)
- Nav dampening extremely high (0.95)
I also do not fully understand how these params affect the planner (not standard PID params). Currently running at 5m/s but would like to get up near 10 if possible.
I’ve seen the following post and, except for the above, much of the params suggested are similar to what I have: TRAXXAS MAXX ArduRover PID Tuning Help
Would greatly appreciate any pointers/ obvious things I’ve missed!