I still have problems getting this kayak to sail straight lines. I have now followed the recommendations described in the “Steering Turn Rate Control tuning video”, so that I have measured the ACRO_TURN_RATE to 5°/s. Also in MANUAL MODE I have taken the kayak through a full circle and seen that the turning diameter is about 8m. Thus, I have started out with an FF_Gain=8. I have then steered it in ACRO Mode and seen that PIDACHIEVED actually follows the PIDDESIRED quite well.
But still, the rudder is going from one side to the other, and the kayak is ‘dancing’ down the line - it actually looks quite funny…
Here is a logfile where I have taken it through different settings (and the turning diameter circles) without much result than described above.
Can anybody tell me what I’m doing wrong ?