Parameters to control tracking. Rover taking the long route

I have uploaded a picture showing the track (path) of my rover

The mission to simple just to go back and forth making 180 degree turns and then drive between the WP in a straight line. The rover makes a tight turn and then heads off at about 30-45 degrees off track and then after 5 m starts to drive directly to the next waypoint. In the first part of the turn the wheels are jerky and in the second part which is more direct the wheel movement is much smoother.

I have tried every parameter and nothing makes a difference.

I would appreciate if someone could suggest some steering or navigation parameters that my fix this.


Hi Max,

Any chance you could post a binary log?