Hello community, i’m Nicola, experimenting with a 3mt. canoe driven by Ardurover 3.5.1 on a pixracer,external gps and compass, with a 56lb trolling motor, 60a esc and 25kg servo for the rudder, it’s more or less all working, it needs some more tuning but i’m very happy with it as a prototype!
I Just have some issues with Loiter mode wich i use against wind.
When activated if the canoes exits the radius with the front facing the target, the servo always swings back and forth some times before the motor is activated, here is a video:
is that normal and is it possible to smooth, like throttle slew, the servo movement for longer servo life?
Another issue is in strong wing, my canoe’s nose always turns in the opposite direction of the wind because of its shape.
In loiter mode with a small radius is set, the canoes tries to keep the back facing the target, the strong wind, often changing slightly the direction, drifts my canoe soo much laterally to the target, that at some point it goes foward, rotates on itself 180%, and reaches the target facing it, then the wind makes the canoe rotate again in the opposite direction, and this continues in loop.
Could be possible to have a LOIT_TYPE 2 option to force the boat always facing the target with the back, as opposite of LOIT_0?
Thanks in advance for any feedback and for the great work!