I have a problem with WRC (Wheel rate control) on the skid steer rover. AruRover 4.1.5, CUAV V5+. When I try to tune the PID, pidachive is very small, like 0.01 [rad/s], and piddesire is 10[rad/s]. I think it should be more like 1000 times larger.The encoder parameter is good because the distance is similar to what I measure with a ruler. Also pidachive is with inverted sign. Is there any logs for pid WRC in bin file?
Second problem: when I set WRC_RATE_MAX to 10[rad/s], the output PWM only changes from 60 to -60, not in the full range 500 - (-500). Changing WRC_RATE_MAX to 50 fixes this problem, but it is not physically possible to achieve this rate.
I check the code of ardurover, and it should work. I try to do some tests, eg. constant throttle and hold my rover to check if PWM will rise, but nothing happens. I am out of idea. I attache two bin file, one with WRC_RATE_MAX 10 and second with WRC_RATE_MAX 50. GCS_PID_MASK set to 8 (left wheel)