2019-09-20, 02:04 AM
1) I will look into
2) This is related to the reactive gain which is not very well tested/proven at this stage. If you set it to zero it should not have an effect.
3) The FF gain is the feed forward gain which steers when the heading command changes. This has effect when manually changing course while engaged, as well as autopilot route following.
4) I think you might have found a problem. Not sure how I overlooked this, but the PR gain did not work as intended as you say. I have changed it to use the position root rather than rate root.
2) This is related to the reactive gain which is not very well tested/proven at this stage. If you set it to zero it should not have an effect.
3) The FF gain is the feed forward gain which steers when the heading command changes. This has effect when manually changing course while engaged, as well as autopilot route following.
4) I think you might have found a problem. Not sure how I overlooked this, but the PR gain did not work as intended as you say. I have changed it to use the position root rather than rate root.