Reworking the Nav Control?.. Oh my. but Oh YES Please! So allow me to dream here…
I’m wondering if it would be possible to develop a self tuning algorithm. With various types of centimeter accurate localization systems available today, I’m hoping the magic nav tuning system can be developed. Perhaps in the same way the compass offsets are somehow calculated.
(Now I’m really dreaming/wishing a lot here) I imagine that there would still be 3 basic tuning steps. 1) Various speed tests where the user could refine basic speeds, acceleration and deceleration parameters. 2) Steering tune mode with the user given a figure 8 pattern of known dimensions to Acro steer the rover. 3) Learn Auto Nav mode where the rover is given a simple square/rectangular pattern of know dimensions to travel. Based on the localization data, the Nav system parameters are auto-tuned to eliminate any wobble, reduce waypoint overshoot etc.
A now with some rovers like lawn mowers weighing in well over 300 LBS and 4 feet long and wide, I think that actual physical properties of the rover as parameters in the MP might be helpful.
Again I realize the enormity/complexity of what I I’m just dreaming.