Large Boat with differential thrust - acro issues

ArduRover ArduBoat
1

Hi all, I’ve configured a small fishing kayak with two rather large thrusters for differential thrust.

I’ve got everything going in manual mode, but as soon as I activate acro I get an uncontrolled wind-up of one of the thrusters, and I have to disarm/jump back into manual quickly for fear of the thing tipping (these thrusters are a bit scary, 30kg x 2).

I’ve been reading through the documentation of course but so far haven’t really found anything I can point to definitively as the reason. I’ve tried tweaking the feed forward and max turn rates but it still acts up.

Because I’m sitting on the thing in a river full of Bull Sharks with a fairly strong current, I really don’t want it to tip or throw me off, so I’m looking for a strategy to get this thing tuned without incident.

I found a max throttle setting but it only seems to apply to the manual throttle - not to the max output for the two motors. Is there a setting someone can point me towards for this, so I can try to tweak the tuning with less aggressive corrections from the motors?

Overall the turn rate needs to be quite low, maybe 4 seconds for 90 degrees, which I’ve tried to configure but still seem to have the same issue.

Hoping that the community can point me in the direction of the best params to tweak and use to help get this monster under control so I can do heading hold and maybe even waypoints.

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You probably have something reversed. Either the motors are running backwards or the left and right are mixed up. but then you reversed the rc to match, so in manual everything goes the correct way because you have reversed inputs to fix the reversed outputs but when the flight controller takes over it starts turning the opposite way so it increases throttle to try and slow down but due to the reverse it makes it worse.

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Thank you, that is an excellent point, one I should have thought of, coming from years of quadcopter stuff.

I’ll check all the things and reset to defaults if needed. Configuring to use the cheapo remote I have via ppm has been a mission and there’s a good chance I reversed something at some stage.

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