Hello, please, I have a bait boat with a Pixhawk 6C Mini, using skid steering. In Manual mode everything works fine, but I have a problem in RTL or Auto mode – the boat starts by powering the left motor, then the right motor, and keeps doing this over and over. GPS is OK, compass is calibrated, heading is correct When I control the boat manually, it shows the correct heading I’ve been trying to fix this for two days and it still does the same thing.Please, do you have any idea which parameters I should check? I can’t upload my parameter list here. Thank you very much
Hi @Air_Cam,
The issue is likely the turn rate tuning. Could you give the linked instructions a try? We also have a quiktune page linked from here that may help.
Thank you for the info, I will try it. I had looked at it before, but I thought it only applied to rc car 
Hi, in Manual mode,shows on the graph -70
even though I set the GCS PID mask to 1. In Acro mode, the boat starts spinning uncontrollably. I tried lowering the Acro turn rate value, but nothing changed.
I’m attaching the parameter list along with a video that shows how the system behaves. I’d really appreciate any help in identifying what might be causing the issue
Thank you very much for your time.
Test 2.param (15.5 KB)
Hi @Air_Cam,
I wonder if you’ve done the motor test to confirm the motors are spinning in the correct direction?
This is the most common cause of supports questions like, “it works in manual but not in acro”.
We often find users have skipped the motor test and it works in manual mode because both the RC and the servo/ESC outputs are reversed.
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Hi, yes, I did the motor test, but
• Motor C spins to the motor right side in the correct direction – pulling forward
• Motor D spins to the left side in the correct direction – forward thrust, but spins in the opposite direction because of the left-handed propeller
In the RC settings, I don’t have any reversed channels, and in the servo output settings, there are no reversed channels either.
However, in Manual mode, the boat works correctly — when I move the stick to the left, the right motor spins in the correct direction (pulling), and vice versa.
“If I swap the servo outputs, the boat doesn’t work correctly in manual
Thank you, it’s working now. Swapping the values for SERVO1 and SERVO3 solved it
SERVO1_FUNCTION = 74 (Throttle Right)|
SERVO3_FUNCTION = 73 (Throttle Left)|
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Hi @Air_Cam,
Great that you got it working.