I recently started tuning a new rover I built. It’s extremely slow (<0.1m/s). In order to get it to run waypoints even remotely well I had to turn NAVL1_Period up extremely high. The current performance actually surprisingly good considering how much GPS error there is (see below picture of the logged GPS path). I’m wondering if there is a way to have it rely more on compass and less on GPS for navigation? I’m sure RTK would help but for this project the vehicle will be operating without a ground station. Any general tuning advice would be greatly appreciated!
It got stuck a few times so thats likely the cause of any big angle errors. Need more tire tread!