When I was performing horizontal position control, the movement direction of ardusub was very chaotic. I had no idea how to adjust parameters like PID and couldn’t move along the predetermined trajectory at all. It even ran around within 2 meters in place.
Hi @835056842 -
What source of position information did you have for the vehicle? Most acoustic based postioning systems can be erratic in a tank environment, what body of water were you testing in? It may not be a gain / control PID issue, but a larger issue - can you share .BIN autopilot logs?