I’m running version 3.2 rc2 (with pivot turn enabled in steering/auto mode).
Currently I have a skid steer system with an emlid rtk gps + navio2. THe emlid rtk antenna is positioned about 0.67 m behind the centre of rotation of the rover. I have put in an offset in the GPS_POS2_X variable which is = -0.67 .
The navio also has a gps antenna which is position at the centre of rotation.
I think due to the distance of the emlid antenna from the centre of rotation the rover does swing wildly in order to hit a target waypoint. The offset value doesn’t seem to help.
any tips ?