I had a look at the logs and a few parameter changes may help:
CRUISE_THROTTLE to 35. sorry, I’d asked for this to be raised from 10 to 80 but that was overdoing it. From these logs anyway it appears that at least once the vehicle gets going, 40% is all it needs to travel at 4m/s.
reduce ATC_SPEED_FILT from 1 to 0.1. This should further slow the throttle response.
This is what it looks like in the Rover simulator with the NAVL1 parameter from your log. Obviously a boat acts differently than a Rover but this shows what the upper level navigation controller is trying to do. I think this path looks good which means the problems are not in the navigation controller but rather in the lower level steering and throttle controllers.
There is definitely one issue in the navigation controllers though and that is the sudden jumps in desired lateral acceleration when passing waypoints. This is largely the cause of the scary turn at WP76. These jumps appear in your log but also in the simulator so we need a code fix for this issue.
I’ll have a chat with Leonard our control expert to see if he has some more advice.
I’m also planning to ask Peter Barker if he can whip up a boat simulator for us. The key difference I think is the super low friction and also the turn rate of the vehicle is dependent upon the motor output not the vehicle’s speed. I think if we have a simulator it’ll help us with coding and tuning real vehicles.