Following the guidelines for Rover 4.3 setup Tuning Navigation — Rover documentation I am very happy with the majority of the outcome as this has been a very difficult task in the past for larger boats, especially my latest 4.3m AIMy with 100kg ballast for rough water surveying.
The only problems now is the excessive throttle coming out of a turn causing over steer, and then of course the WPT proximity. If WPTs are less than 20m apart the craft will behave very erratically starting off with the complete shutting down of the throttle then trying to get back on track getting worse and worse the closer the wpts are to each other.
For perspective: Path Intervals are 18m apart -
