Hi all, I have a skid steer robot using a pixhawk cube, one 1x15 roboclaw motor controller and a dagu wild thumper 4 wheel chassis. I have skid steering working so far, testing motor c and motor d tests works as described and the vehicle can be controlled in manual mode.

However, upon using any mode other than manual mode the rover wants to shake and pivot on the spot, and it seems the steering PID controller oscillates and these oscillations get larger. i have tried everything but it is still uncontrollable.

so far the only way to fix the issue is to set all steering pid controller settings to zero which is not acceptable. 



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you have

  • SERVO1_FUNCTION,74 and

swap them and test again.



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