I had a weird problem today and yesterday when I booted up my rover. Ive been driving it around in manual mode for a while now, and had gotten very used to how it drives. But yesterday and today, once I armed it in manual mode, it was driving really sluggish. Slower top speed (which is already very slow) and it wouldn’t pivot turn. It would try, but didnt seem to be putting the normal amount of power into pivoting. I was going to pack it in, and figured maybe there was a problem with the battery, but when I switched it to auto mode, it went back to normal and was pivoting with the normal amount of Oomph, and driving at the correct speed. What parameter must I have changed to have done this??? Would this be a result of modifying the FF and related parameters? That doesn’t seem right,but I thought that all I altered, before it did this, was the FF, but I must have done something else. Did changing parameters in the “mission start” options in Qgroundcontrol (which I did in my tests yesterday) affect basic manual control?
Ive been trying to run a few grid patterns to see how closely the rover will navigate using the RTK data from the Reach RS onboard. I want this to be running, constantly, with as little cross track error as possible and to minimize cross track error as quickly as possible. Would you take a look at another log and possibly suggest additional tuning directions? When the rover hits the waypoint and pivot turns successfully, it does a pretty good job tracking straight on the line to the next waypoint. But, on the grass field Im driving on, the rover doesn’t always successfully pivot turn, sometimes it starts to pivot turn and then loses traction ad the wheels spin. So I drop into manual and bump it forward or backward and then switch back to auto. When that happens, it is usually starting the next line from a meter or two further away from the starting point than it should, and then it seems to be much slower to come back to the line and weaves more. I raised the P and I terms as you suggested, and bumped the FF just a touch higher. I was also looking at the Nav tuning values, and wondered whether these are coming into play now.
Any help you can give would be, once again, really appreciated! I think this log is somewhat truncated, though. So not sure if it is sufficient. Thanks!