Work continues slowly on my monster robot. One of the problems is that it moves very slowly (2-3 meters/min) and I think it weaves because the gps heading varies a lot when moving slow. I think the compass/imu heading should be more accurate. It there any way in the pixhawk to change the relative weight of the GPS versus inertial heading. Any ideas ? I have gone over the excellent tutorial by TCIII on tuning the steering and it has helped a lot but not enough. Maybe there are some parameters that I know about that could be useful.