breadoven

Made some improvements, the main one being increasing the update frequency for cross track error rate from 2 to 10 Hz which seems to have made a big difference. This...

I made a few more minor tweaks mainly to reduce a potential control oscillation you get as you approach the course line. Other than that it's definitely better than the...

I've tried a different method to try and improve this some more which seems to perform even better than the current changes. It even works at speeds of 180 km/h...

New method seems a big improvement. Now working at all speeds and even managed to change `nav_fw_wp_tracking_accuracy ` to an ON/OFF setting, no more tuning required. Needs flight testing though,...

Made some final changes here. Decided the cut turn addition didn't really work so removed it. Also changed the `nav_fw_wp_tracking_accuracy `setting back to numerical 0 to 10 except it now...

I assume the plane used for the test @Jetrell had some sort of yaw control ? Hard to see how setting `nav_fw_yaw_control `= ON would help otherwise since as far...

The SIM testing had `nav_use_fw_yaw_control` set to OFF because HITL was just using the flying wing model. I'm guessing setting `nav_use_fw_yaw_control` ON works because it generates an output for `rcCommand[YAW]`...

I tested this the other day on a T tail and flying wing. T tail motor glider was very accurate, probably better than the current method which already worked OK....

I think I'll merge this since it's definitely better than the existing method. I don't think it'll ever be perfect, there are just too many things that affect how well...

A log would be most useful.