I did a short test yesterday where I tried to tune the NAV params.
I tried to do a simple waypoint following Path. (Square with 4 waypoints).
Again throughout the whole test I had good RTK fix solution.
I wasn't getting a nice solution. A quick inspection of the logs show that the desired acceleration is way higher than what my rover can do.
logs: https://cloudstor.aarnet.edu.au/plus/s/ME8D2CfgLJ07of4 - password ardurover123
I tried playing with the NAV1 params
lowering the Nav1 period resulted in the rover weaving at a faster frequency as it traversed from Waypoint to waypoint. Increasing the Nav1 period resulted in lowering the weaving frequency. but it also meant that the rover deviated from the path with a larger amplitude. So to summarise
lower Nav1 period = higher oscillation freq, but the rover's position is closer to the path
higher Nav1 period = lower oscillation freq, but the position's position deviated alot more from the path.
I played around with the Nav1 period to make it go all the way up to 50.
my current turn max g is 0.2 but I think it needs to be more like 0.02 ...is this possible in ardurover ?