I’m having trouble with tuning the steering rate and getting my rover to head to a way point.
I have a 6WD thumper chasis with two separate ESC’s controlling the left and right side respectively. I’m using a Pixhawk 4 which is running ArduRover V3.5.0-dev (1b46104a). The rover works fine in manual mode.
In the attached log, I took the rover outside and tried to get it to drive a path with a couple of waypoints. The rover would turn to a heading unrelated to the waypoint and move off in a straight line. It didn’t turn at any point.
I suspect this is because the steering hasn’t been tuned correctly. I tried following the guide on the wiki, especially the video, which was for a four wheeled vehicle with conventional steering. In ACCRO mode, my PID desired and PID achieved were the wrong way round, with my PID achieved being way higher than PID desired, and this was with the FF set quite low to 0.2.
I also find ACCRO mode to be largely uncontrollable. The rover tends to go straight into reverse and turn without any input from the remote control. In a large enough space, then I can use to remote control to have some control over it, but it’s not operating how I believe it should be.
Lastly, I’m also having trouble getting the rover to learn a cruise speed. Again, I’ve followed the wiki and assigned Learn Cruise Speed to an auxiliary switch. I get an audio confirmation from Mission planner that Cruise learning has started and I drive the rover for about 10-15 seconds in a straight line at a constant speed, but when I flip the switch back down, mission planner says that cruise learning failed. I tried this several times during the attached log.
I’m very new to this still, so I suspect I’ve got something quite basic wrong. I do have my arming checks disabled because most of the time I’m working on this in a windowless office with no GPS.
Thanks in advance for your help.