Lawnbot with ESPrtk corrections, uBlox ZED-F9P gps, and Cube Orange autopilot

[rhauff]

@SouthernRC, I did not use the Qwiic ports.
I connected Sparkfun UART1 to Cubepilot GPS1 input. Rx-Rx/MOSI, Tx-Tx/MISO.

I recently added an external compass/magnetometer. See end of this post:

Waypoint never reached, though rover continually driving over the point

If you have your fences setup, and your mission, and you’re having trouble hitting the WP… Switch from BendyRuler to pure Dijkstra (OA_TYPE=2) - does it avoid your fences, AND travel to your WP’s correctly? But switch back to OA-TYPE=1 or even OA_TYPE=3 and you’re back to having challenges getting to the WP?

Holybro DroneCAN RM3100 is connected to Cubepilot on GPS2 port