WP_RADIUS in Rover 4.5+

ArduRover Rover 4.5
1

Hi guys!

I am developing an articulated rover and I need to control the WP_RADIUS to be able to start the turn in advance to avoid a jackknife. In rover 4.2.3-beta 7 it works correctly, but after upgrading to 4.5.0 the WP_RADIUS stopped working. Does anyone know if this problem has been fixed in later versions?

I would also like to use this thread to ask if someone can tell me in which version of rover 4.5+ the problem of overshoot discussed in this issue has been fixed: ArduPilot Issue #25623
Because I have seen that in 4.4.0-beta 11 supposedly it has been fixed but in the 4.5.6 release thread the same problem has been commented again.
Rover-4.5.6 has been released! - ArduRover / Rover 4.5 - ArduPilot Discourse

2

Hi @jave,

I’m afraid that with the introduction of SCurves (which solved a lot of navigation issues) users can no longer directly control when the vehicle starts to turn before the waypoint.

The best you’ll be able to do is reduce the acceleration (WP_ACCEL, ATC_ACCEL), increase the target speed (WP_SPEED) and radius (WP_RADIUS) and it will tend to cut the corners more. It’s on the to-do list to enhance SCurves to use the vehicle’s TURN_RADIUS as a minimum radius for the corners but it hasn’t been done yet

3

Thank you @rmackay9! I’ll keep an eye out for new developments.