@Derek_Wen Just tracked this down to a servo reversal issue in the process of testing things to respond to this, so thanks for the assistance! Also, good catch with the GPS_POS2 parameter, that was from some earlier testing I did which I forgot to revert. The GPS heading and position shown in Mission Planner were stable and correct either way, so I don’t believe that particular parameter actually does anything with this configuration.
For future reference, the following is a good field test to determine if servo reverse parameters are correct on a skid-steer vehicle. You can also use the Motor Test panel in Mission Planner if the wheels are removed or raised off the ground (Ref. Rover wants to reverse, even when waypoint is straight ahead - #9 by Yuri_Rage):
- Set WP_PIVOT_ANGLE to 30 degrees.
- Configure a mission with a single waypoint far away from the rover on a visible landmark.
- Repeat the mission, starting the rover with a different initial heading each time.
If you have a right servo reversal issue, you will likely see the following behavior:
- If the rover’s heading is within ~30 degrees of the waypoint, turn ~180 degrees and start moving away from the waypoint.
- If the rover’s heading >30 degrees off clockwise from the waypoint, go straight reverse indefinitely.
- If the rover’s heading is >30 degrees off anti-clockwise from the waypoint, go straight forward indefinitely.
If you have a left servo reversal issue, you will likely see the following behavior:
- If the rover’s heading is within ~30 degrees of the waypoint, turn ~180 degrees and start moving away from the waypoint.
- If the rover’s heading >30 degrees off clockwise from the waypoint, go straight forward indefinitely.
- If the rover’s heading is >30 degrees off anti-clockwise from the waypoint, go straight reverse indefinitely.