Discussions

Good Afternoon,

I have a tank and regular car APM 2.6 set up.  The car is working well doing my grid patters, the tank on the other hand, has gone from weaving all over but hitting the way-points, to having seizures or a dance party and randomly driving into things. 

• I have my Sabertooth 2 x 25 set up in RC Mode, Exponential response, Mixing mode.  The APM is NOT in skid steer mode.  
• The compass is calibrated correctly. 
• Manual mode is working pretty well.(I think i may need a new RC transmitter though)

My question is how can I adjust the settings to have the tank, do 90 and 180 degree turns on a dime.

I've been trying to find the balance of:

• STEER2SRV_P 
• TURN_MAX_G  
• NAVL1_PERIOD  
• SPEED_TURN_GAIN 
• CRUISE_SPEED 
• CRUISE_THROTTLE 

and to correct for weaving but still have a tight turn.

• STEER2SRV_P 
• STEER2SRV_D 
• STEER2SRV_TCONST

I'm following http://rover.ardupilot.com/wiki/tuning-steering-and-navigation-for-a-rover/ for guidance. 

One side questions. Since i'm using an external compass and GPS does the APM 2.6 still have face forward?