Went to Heather Farm park to test the boat. June 15, 2017

First time with a new motor/esc/shaft coupling: working good!

Autonomous mode had major oscillations so I tuned the feedback gains using trial-and-error. Reference to gain information.

• Previous tests had violent yaw oscillations so I started off with STEER2SRV_D = 0 as the boat doesn't seem to need rate feedback in steering. Still slow oscillations but not violent.
• I reduced STEER2SRV_P with little change, still slow oscillations.
• I doubled STEER2SRV_TCONST from 0.75 to 1.5 and this made it way worse! I changed it to 0.4 and it worked nicely to go between two waypoints. The link here said increasing it would reduce weaving but my theory is it added more lag for more weaving, so lower was better.

Here is a video of it going between waypoints. I am using Andropilot for telemetry on the same phone I was filming from, so you can hear the app announcing the waypoints.