I am using a Sabertooth 2 by 12 RC motor controller with a Pixhawk 2 loaded with firmware 3.2.1. The chassis is actobotics and weighs about 10 pounds. I am using 303 rpm motors and the bot is set up for differential steering. I have just bought 2 118 rpm motors that will be better. Ie slower with more torque.
In manual mode all is as it should be and the bot responds well. However in steering and auto I am getting violent swings from side to side whilst traveling to a waypoint. This being said forward back velocities are well constrained and not a problem. Also the bot is generally trying to go in the direction of the WP so I think all the connections and reversals are bacially correct.
I have been through the new wiki material on speed, steering and navigation tuning many times and I have still not found the solution
If some can tell me the main parameters that control steering in these modes I would be grateful.
Also the parameter to turn pivot steering off and back on
I can include a log file in the next post If thought useful