Learning mode (sort of) plus obstacle avoidance.

  • Steering mode is a bit like learning mode, except that the controls use the same steering, throttle and obstacle avoidance code as AUTO mode does.
    • The steering controls the “navigation bearing”, which is what AUTO uses to navigate.
    • The throttle controls the target speed, just like AUTO does.
    • When it sees an obstacle it tries to avoid it in the same way that AUTO does.
    • It even does turn speed scaling.
  • So you can use STEERING mode to test your rover while remaining fully in control.
  • Drive it at a obstacle, and it will avoid it, which is not only fun, it’s great for tuning.
  • Momentary toggle (CH7) stores the current GPS position as a new waypoint.