Rover - acro mode shaking

[Wiktor_S]

I am having issue with tuning turn rate on my rover with Pixhawk cube orange and Cytron SmartDriveDuo MDDS30 - ESC MODULE. It keeps oscillating when stationary but when moving or turning on command in acro mode - it behaves well. It drives straight without yaw input and turns OK. I tried setting FF to 0 or minimal value without improvement. Setting P and I to 0 resolves oscillation but if I change it even to 0.0001 - it starts doing it again.

What is more in guided, manual and hold servo output for motor pwm is 1500us. when switching to acro -motor pwm is wobbling between 1460-1560us - instantly, witchout any reason rover is still.

Of course i can set MOT_THR_MIN below motor treshold value, but why this is happend ?!?

Here you can find my logs: rover - Google Drive

Any advise? @rmackay9

Thanks.

[stephendade (Stephen)]

Enable the ARMING_CHECK to 1, so we can see if there are any issues

@Wiktor_S

It keeps oscillating when stationary

It could be that the steering’s reversed. Try setting SERVOn_REVERSED for your outputs, or swapping the left and right outputs.

[Mogway28 (Mariusz)]

It drives well in any mode, problem is when it’s standing in place . When You switch to ACRO it motor pwm is changing between 1460-1560us - instantly, without any reason . Switch to manual,guided it holding on motor output 1500us while standing.

More:
on pid chart where piddesired plot is constant the pidachived is wobbling alot ( but why?- this is the question)

I guess it could be problem witch EKF3 or some kind of filter or noise settings ?

[Wiktor_S]