I am working on a position keeping platform to collect currents, but we are having problems using the pre-existing loitering system. The platform has a tendency to oscillate due to the program constantly looking to center on the original position. I had an idea to modify the current loitering code to how often the motors are running. Does anyone know how to modify the pre-existing code and upload to our platform. Or has anyone had this oscillation problem before? I have including the files from the last testing we did with the platform.
Parmeters.param (14.9 KB)