I recently had to replace the controller on my boat and was going through the tuning process again. It went fine during the steering and throttle tuning so I proceeded to do some navigation tests.
What happened was that it simply didn’t want to go to any waypoints at all. I would lay in a simple track, arm and go to auto mode. The boat would then turn rather sharply in the opposite direction and slowing oscillate the steering nozzle while jetting at low power (kinda like wiggling it’s tail). I had no compass or GPS errors during the entire time and the tracking on the GCS seems fine too. It just simply refuses to follow the track. I looked through the logs and noticed that my DesTurnRate and TurnRate appear to be in the opposite directions but the boat steers fine in both manual and acro mode.
Logs