I have a steering boat(with 2 thrusters, no rudder) which is using Pixhawk as a hardware controller, and using the ArduRover as firmware and mission planner as GCS. It functions very well in manual mode, but when I switch to auto mode and make it follow the waypoint, it does not follow exactly. I followed the ArduRover wiki to tune the controller but it still not good.
For example, here I did an experiment in a pool with a size of 10m * 25m, and it is in Auto mode:
- In the first video, here is the link: experiment 1 I made it to go straight to reach the only waypoint, the direction is roughly correct, but it just cannot be exactly where it should reach.
- In the second video, experiment 2I made 2 waypoints, but it seems after the boat “roughly reached the 1st waypoint”, it cannot turn its head to the 2nd waypoint and struggled to reach it.
Here I also attached the log filebin file here in the post. The May I know is it because of the controller problem? Which parameter should I tune in order to get good results?
Btw, the boat is about 1.8 meters long, and it is really heavy with a weight of 90kg. And the weather is quite windy on that day which also cause waves in the pool.
I have been struggling with this issue for a few months, hope to hear from some suggestions to solve this problem. Thank you!