Hi ! I am building a small USV. I tried to set the different PID for throttle and steering, but it is still not amazing. I still have issues with my GPS and compass (I noticed a 20 degres difference between the nose of the real boat and what the pixhawk thinks). The behavior in autonomous is really not good so I don’t know what to do… I put here a tlog. The first half is not interesting, but then I try the “learn_compass” parameter and it doesn’t work, then i show how dumb is my auto mode. In the end I have a problem with the GPS preventing the launch of auto mode. But I don’t understand because the GPS is fixed so if someone has an explaination…
If someone with experience could help me it would be super nice !