Ill have to try those two first things and see how they go as for the min pwm I have tried low and high. when everything is turned up high it is a steering savage but still has an ever so slight oscillation which is driving me crazy haha. Even if I am sitting still in park and try to get it to go to say 10 degrees it only goes to 9 or 11 depending where I have the gain. It never finds its true home for some reason. I also tried changing the pwm frequency to 122hz and that seems to respond a little better. 3921 hz wouldn’t even move the wheels. If I lock it in at a certain degree and do the circle to see my true degrees it seems to have the correct counts per degree and so that confuses me more…
How is your hydraulic set up? Do you have a pressure reduction somewhere, or full pressure or ls? (probably still full pressure if you use anything else at same time)
Its the stock hydraulic steering block that case uses for my magnum 245.
So basically the same as on our CNH T6 175. We have similar experience, was wondering if the 6/2 valve (or dump valve) as they call it, actually is a pressure reducing valve, like 6v to it would give half pressure? We can turn steering wheel almost easily when autosteer is engaged, but when turned fast it disengage by the pressure sensor (need 2 clicks to re-engage). Don’t think it is the WAS sensor that causes the problem, but mainly delay in AOG system, and the fact I mounted the gps-antenna on the plate where original GPS would be mounted (almost right over the driver)
The oscillation is much less and at higher speed on my old Hürlimann with a similar valve, but GPS on the hood. And has max hydraulic pressure at 35 bar.
Still using v 4.3.10 with edited ino for pressure disengage.
My block has a shuttle valve that I engage and disengage with a relay. I edit the ino to do that when autosteer is on/off. I also had to install a hose that tees into the load sense line and it goes over to a really small orifice and dumps into a filter housing. That is suppose to take away any extra pressure so it doesn’t kick off autosteer by over pressuring the pressure transducer sensor. That only happens to me if I have it set to sensitive. I thought the new version of AOG would solve the oscillation issue due to the Arduino loop being faster. The faster I drive the crazier it gets.
Have you seen this thread?
Where did you get the info about the extra but very small orifice on ls line?
I didn’t modify any hydraulic to get the t6 going, like you, of course turns off/can’t engage when pressure shut off potentiometer is set too low.
I really don’t know. Autosteer appears to work ok all the time. If the gps is a bad actor somehow, maybe it can mess also the AS connection in the same usb hub?
I eventually got the gps to fail even with the ReadExisting mod after a few hours run, so I suspect the gps is somehow faulty after all, just recovers with the mod if the fault is intermittent. I did try another gps module which didn’t fail at all but it looks to be a rare occasion so can’t be sure yet. And as a sidenote, when my gps is working the v5 is just fantastic, really easy to get the steering set up and simple to use!
Well i think that is the biggest difference between v4 and v5. V4 made things appear like they worked… whereas v5 pretty much either works - or it just does not.
ReadExisting will take in a whole bunch of lines at once if there is a backlog and parse it all out at once, where ReadLine will send a line, send a line etc.
Yep, it’s more a hack that fixes a problem that should not happen in the first place.
Does it have something to do with AgIO detecting the wrong GPS Hz and not reading the completed position sentences fast enough? V4 didn’t auto detect.
I managed to get v 5 to work decent. I had to bring the proportional gain way up to 150s and then tweak the pwm just right to work the solenoid valves. The min was 72, the low was 90, and the max was 195. I had to use pure pursuit in order to get it to drive straight. Stanley still wanted to oscillate slightly. It still needs a little fine tuning but at least now I know I had the gain way to low before.
I got my hands on the PDF manual for installing the autoguidance system in non autoguidance ready tractors. That gave me all the part numbers I needed as well. 
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PP is better anyways on v5.
Sry. For the stupid question, I have tried to find out pro cons duals vs Imu. I switchen today from dual to cmps14. Sending from ESP32 GGA and HDT and VTG. And changed in AOG from dual to fix. Cmps14 is working well. But i can not steer because speed is always Zero 0! What could be the Problem?
Is there anywhere you can see the nmea messages AOG is getting? Sounds like VTG is not getting through to me. 
I assume AOG uses that for speed.
Do you need HDT?
The VTG Sentence is like
The 2.59 should be the speed or?
Any ideas why AOG dont see the speed?
Went back to have a look at your pictures from start 2020, to check if it was a 24 V valve you got, but not it is actually 12 V
Your settings are like when I used 12 V on a 24 V valve (before I got the 12 to 24 step up converter for my Hürlimann)
So these quite high settings here, made me think you actually have too low pressure at hand(when shuttle valve are active)! Maybe play with the size of the LS orifice?
How fast does your wheels turn? if they move too slow it would oscillate as well.
On the T6-175 with setting gain at 20, min at 29, high just left at max 254 and low at 38, the wheels are quite stable but would do 1 degree left-right almost like saying tik tok. From center to full right would be saying 2 beers 
That orifice is very small and in a really hard place to get to. (filter housing behind the right tire) I think its to stop pressure spikes from tripping the pressure transducer, but I’m not completely sure and no one at the dealer could tell me haha. GPS at a dealer seems to be witch craft only one guy knows a little about. I struggled for a long time on v5 since I also thought the settings would need to be lower. If I didn’t have the gain high enough it would never get to where it needed to accurately. I limit the max pwm to keep it from being a savage. It turns quite nice which is surprising. Ill have to fine tune it some more but at least its not snaking down the field anymore. I also switched to 122 hz vs the 3921hz one by default and that seemed to help me.
page 24 in this pdf explain about the LS and different orifices for an autosteer system.
Has the UDP output port changed from 2232 on the latest version of AOG 5.1.4?
I don’t seem to be able to pickup RTK2GO corrections from AOG on UDP 2232.