RC wrench authority
kev-the-dev opened this issue · comments
At recent lake days, we have noticed that is is hard to control navigator in RC mode. In one case, applying a forward wrench (500, 0, 0) caused NaviGator to move in a circle! Figure out what may be causing this and fix it.
Some ideas:
- Something was messed up in the recent refactor of thrust_mapper. Edit: I looked through the changes pretty thoroughly and think this is unlikely.
- It's just the inaccurate deployment of our thrusters (not at the correct angle) #blamehardware
- The wrench from the RC node is wrong for some reason
- We throttle the RC wrench too much
- It's just physics! Whatcha gonna do
Update: played back bag where we move in circle. Wrench is correct (600, 0, 0) and motor outputs are correct (all equal positive effort). I'm going with either motor controller driver/firmeware issue or physical issue with thruster mounting or damage to thrusters