Rover do not exacly follow waypoint when in auto mode

ArduRover Rover 4.0
1

I am able to command the rover to run in auto mode. But when i attempt to run in auto mode, the rover didn’t exactly reach the exact waypoint intended.

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From the picture, there is some distance left in the waypoint and it travel to the next waypoint without travel close to that position.
I am using skid steering mode to drive the rover.
I am out of idea on how to correct this issue. Is it related to motor tuning?

2

Reduce WP_NAV_RADIUS parameter

3

Or update to 4.4-beta. If this vehicle is fairly well behaved under 4.0, it should be fine with the new nav controller that treats WP_RADIUS a bit differently. May require a bit of re-tuning of the nav parameters.

At a minimum, update to 4.2.3 and follow Amilcar’s advice.