I am having trouble with standard turns in AUTO on my mower. In steering mode, the mower drives very well. I tuned the speed and steering loops in steering and got good results. In manual, it tracks pretty true, also. Pivot turns are working great, but if the mower gets off the straight path a little and needs to perform a non-pivot turn, it stops.
On the tuning screen, the steering piddesired is only moving up and down slightly around 0. It is as if the NAV L1 controller thinks all is well and is not requesting a turn. I have looked at everything I know to look at. I have varied the NAVL1_DAMPING, NAVL1_PERIOD and NAVL1_XTRACK_I methodically a LOT. I have also played with the steering tuning parameters.
The best way to demonstrate is to turn off pivot turns and run a mission, as you see here. You will see that as it makes some turns, it stops before it gets to the desired heading. If I do not touch the controls, it might finally pull out of the stall after several MINUTES. If I switch to MANUAL and back to AUTO, it takes off.
The parameters currently in the mower are not optimal. They are after a lot of tweaking on this problem.
Attached is a log, parm file and here is a link to a video showing the screen while testing. You will see the vehicle stop as I first switch to AUTO and it attempts to turn toward WP1 and again as it rounds WP1 heading to WP2. This behaviour is very repeatable.
I have been fighting this for a couple of weeks! Suggestions, PLEASE!