I’ve been continuing to work my solar rover project, and its able to successfully run waypoint missions but not well. I’m having a problem that seems to be somewhat intermittent. The vehicle constantly pulls to the left, then skid steers back on course. See video below.
I’m fairly confident its not a steering tuning problem, because pidachieved seems to match piddesired fairly well. It drives straight in manual and acro modes so this suggests the problem has to do with sensor input or navigation tuning. My hunch is that its a compass issue but the vehicle heading displayed in mission planner appears to be dead on, and the target angle line seems to be correct. It seems as though the software is getting some sort of false heading bias.
I have the pivot turn angle set at 15 degrees, which I know is abnormally small but it stays closer to its course with smaller values. Despite having plenty of steering control in acro mode, there doesn’t seem to be very much (non pivot) turning authority in auto mode, resulting in a heavy reliance on skid steering.
My hunch is that the problem could be one of two things:
- Compass error (even though the GPS/compass is mounted out away from the steel frame. I’ve even tried physically rotating the compass to add offset with no luck)
- GPS offset (since the GPS is so far behind the center of rotation it sort of moves in the opposite direction of the turn. Although I’ve tried setting the GPS offset to -1m and it didn’t seem to change much)
Video of poor performance:
Previous solar rover video: https://www.youtube.com/watch?v=nv2FbwjIZRE
Any advice would be greatly appreciated!