My large skid steer vehicle uses pixhawk 2.4.8 hardware. When using auto mode to perform tasks, when the vehicle reaches the waypoint and completes the pivot turn, it will have strange movements, such as slowly moving backward or slowly moving forward, etc., and sometimes it will not stop. I have tuned the speed pid and steering pid. When the above phenomenon occurs, the pid does not seem to work, because the “piddesired” and “pidachived” parameters in the tuning window have not changed. What may be the problem? LOG
And, I often encounter “pos_horiz_abs off” causing Failsafe. I use dual-antenna RTK (UM982). I checked the number of GPS satellites (>30) and DHOP (~0.4), which should be normal. I don’t know what else may cause this exception? How to debug it? LOG
Thank you!