Wandering issues

Hey All,

First season planting with AgOpen. We’ve got a v4.5 Micro AIO on a Deere 7320 pulling a ~13’ corn planter. Dual GPS with our own RTK base less than 2 miles from where the rover is. All F9P’s with the right configs/firmware.

Full disclosure I’m the computer guy, my brother in law is the farmer.

WAS zero seems pretty dead on, in all of our testing and on the first field he planted it was laser straight, never showing more than 1-2cm off the line.

Then a few days later in some softer but not crazy soft soil he said it seems like “Someone was planting that had a few too many beers”, I chuckled at this.

The field is pretty flat, but you can see that it wanders. He said that he saw the error creep up to 5 or 6 at times, which we’ve never seen in testing or in other fields. Steer response is at the default of 3.5 and he is planting around 5 MPH

We’ve validated the WAS has about 0.2-0.3* of play in it, which we’re going to shore up, but we’re 28* max steer, so that’s 1/3 of 1% of error.

We’re running v6.7.0.

Any ideas? Do we just need to be more aggressive on the steer response setting? The speed factor is also at the default 1.5

Here’s about 2.5 acres of that field from above, you can kind of see what’s going on - https://spencerryan.com/agopengps/Miller-Road-5-2-2025-orthophoto.jpg

Here’s looking down a row

24V Phidgets motor, gain is 20, max 180, minimum to move is 12.

Happy to provide any more details I can.

Edit - Here’s the vehicle XML <?xml version="1.0" encoding="utf-8"?> - Pastebin.com

The better was 0 the straighter lines.
Also, in softer soil you should turn up the gain. It needs to be more agressive…

That makes sense. And likely the non-zero integral is what was saving it. Just wasn’t putting enough power into the motor.

We’re gonna tighten up that WAS and bump gain by 5 and see how it goes.

Watch the steer chart. If it’s too slow to react, increase P gain, if it overshoots too much reduce it.

id say up your gain to 30-40 and min to move to 30ish
sounds like your building up errors and the steering isnt reacting fast enough