Ok, I've spend 4 hour today trying to tune steer and navigation PIDs.
There is a big problem with PIVOT_TURN_ANGLE. The firs problem is the high velocity that this mode use. I config that param to 100°, so when the diference between current heading and Desired Heading or Waypoint direct angle? is greater than 100°, the ASV stop and start to pivot. The problem is that it start oscillating becouse of the high pivot speed. I could'nt finde a param to get this speed lower. Other think I've noticed is that sometimes the pivot directions seems to be oposite that obvious direction. I mean, it turn in the direction of the greates angle diferences, i.e. to the direction of 265° instead of in the direction of 100°. I've try with 10°, 60° and it doesn't work, it is too fast.
I've trying disable PIVOT_TURN_ANGLE, but the ASV takes a too large radious to get the turn.
So, I really need PIVOT TURN, but I need a parameter to lowered the PIVOT speed.
Is there a graphical explanation of control loops involved in steer control?
I found andocumented parameters: ATC_STR_ANG_P. In the wiki I found ATC_STR_RAT_P
I found some Magnetometere variance error too. I'm in open space, in the midle of a river with 18 SVS, I've calibrated my magnetometer, so why I get this error?
I attached some logs, if you need some explanation of it can comment it.