My boat steering has highly nonlinear response. It is a race boat set up to compete on an oval course. It pulls 7.5 g to 8 g to the right with little servo angle but struggles to pull 2 g to the left even with a lot of servo angle. I expect this would make it difficult to keep the control loop stable.
I imagine I need to add my own code or else make a request to include a linearizing transfer function. Could someone please point me in the right direction how to do this? Which parts of the code would I need to dive into exactly?
I have general programming experience and a basic understanding of control systems, but I’m new to Ardupilot and struggling to understand where everything is.