Pivot Turn with Skid Steer enabled

RoboBill,

Thanks for the log. I think we do have an issue when switching from forward to reverse. I haven’t nailed down exactly what the cause is but I think it is either:

  • we prematurely start operating the steering controller as if the vehicle is reversing while slowing down. This may happen because we use the desired speed instead of the vehicle’s actual speed to determine which way to spin the wheel.
  • when we switch from forward to reversing we immediately reverse the I-term that has built up. This leads to a sudden reversal of steering command and can lead to a oversteer.

Somewhat unrelated, I had a peek at the Speed control it’s pretty OK but some things that might help a bit:

  • reduce the ATC_SPEED_FILT form 50 to 10
  • reduce ATC_SPEED_D to 0.02. It’s 0.25 and it just adding noise to the throttle output.
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