I am having a hard time to get AOG driving straight.
The steering is oscillating between the straight line and ~60 centimeters on the left of this line.
I filmed the AOG screen with setting and chart : agopengps - YouTube
Can someone guide me to the right settings to apply?
Thanks a lot for your help.
Olivier from Belgium.
The latest version has a good feature to set the counts per degree, I would start with that. Check all your measurements then play with the look ahead in pure p
Basic Steer Settings - YouTube]
Here is good video for BASIC settings
I only use Pure Pursuit, have not tried Stanley after the first day out. I am not sure with stanely how to tune it.
With PP if you are to slow to a straight line try increasing your Motor low speed, if its too low you will be slow to recover on a straight line, if its too high you will oscillate on a straight line. Most of the straight line driving corrections never exceed the motor low speed.
Motor max speed is mostly for uTurn. If its too slow you will drift away from the u turn and not achi…
Here is some explanation for v5, pretty close.
Biggest baddest setting to get right is look ahead, set it down till you oscillate, then move it up till you oscillate. Sweet spot is in the middle.
Next most important is low motor speed.
Thanks for the infos.
How can I check that the x/y axis (MMA) are correct?
Because the fact that the system is staying on the right side of the line only is maybe a question of hardware??
MMA? What version of AoG you are using?
The easy way to check the roll is going the right way is to drive onto an obvious side slope or unmount IMU and tilt it over to one side by hand.
The settings page in agopengps for IMU has diagrams showing which way roll should be positive and negative.