I have a 12 volt geared motor driving my power steering on a John Deere 5055e. The Pixhawk channel 1 output is going into a JRK12V12 motor controller which is receiving angle sensor input from my AG Leader steering angle sensor. I have consistent RTK float GPS status coming from my ComNav K501G receiver.
I’m looking for suggestions on how to improve cross track error. I have adjusted 3 steering related settings to find the best fit (i.e. NAV1_PERIOD = 24; STEER2SRV_P = 19 and STEER2SRV_D = 0.00625). My min and max xtrack error is -0.19 and 0.20 respectively after waypoint 1 on a 150 yard test run at a ground speed about 1.3 m/s.
Video URLs with 3 tests with different STEER2SRV_D are below. Visually there is not much difference between the three settings. Graphing the xtrack error and steering channel shows:
I’m wondering what additional settings might smooth my servo 1 output and make my steering control motor oscillate less with the result being a tighter xtrack error.