Unstable heading

The replacement wishbone arrived so the cars in good shape, but still no luck with the heading controller. I can get it to slowly oscillate along a straight line by using a low Kp and restricting the steering, but the step response is poor. Adding a differential term based off the GPS heading didn’t help and showed up the high frequency noise you’d expect from a differential.

I suspect there’s quite a bit of lag in the GPS heading and that it has a hard time calculating on tight, small radius turns. This seems reasonable as the heading must come from the velocity angle or difference in position. Measuring and plotting would help…

Next step is to wire up the MPU-6050 based gyro I got off ebay. i2cdevlib has a driver for it that uses the Fastwire ATMEGA I2C library, but I’ve stripped out so much there’s not much original code left. The board is physically a bit tight so it’ll be tricky to fit.