Rt4 Baitboat px4

ArduRover Rover 4.4
1

Title:

ArduRover 4.2.2 – First AUTO mission start always accelerates hard and veers left, RTL works perfectly (Log attached)

Message:

Hello,

I have an ArduRover 4.2.2 bait boat with skid steering (2 motors).

The boat behaves very strangely:

  • In MANUAL mode it drives perfectly straight.

  • During the first AUTO mission start it accelerates extremely hard, immediately turns left, then corrects to the right.

  • After a few seconds it drives perfectly straight to the waypoint.

  • RTL (Return to Launch/Home) also works perfectly and drives straight without any problem.

What I already checked:

  • Compass appears correct.

  • GPS is good.

  • ATT.Yaw is stable.

  • SteerOut looks normal.

  • TurnRate looks normal.

  • Only DesTurnRate shows strong oscillations during the first AUTO start.

  • The problem only occurs during the initial mission start.

Parameters already tested:

  • ATC_ACCEL_MAX = 1

  • ATC_DECEL_MAX = 0.5

  • ATC_STR_ANG_P = 5

  • NAVL1_PERIOD = 15

  • NAVL1_DAMPING = 0.75

Changing these parameters did not solve the issue.

The DataFlash log is attached.

Could someone please check whether this is a known issue in Rover 4.2.2 or if there is something wrong with the navigation controller during the initial AUTO mission start?

Thank you.

2

That firmware is 4yrs old and some of those parameters have been superseded. Update to current Stable and start from there. You want to make sure if drives properly in Acro Mode. Manual mode only tells you so much.