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I have this problem as well. What kind of surface are you driving it on? I think that the reason the turning is off is due to excessive slip. I am in the process of testing this, so I will let you know what I find out.

I have this problem as well. What kind of surface are you driving it on? I think that the reason the turning is off is due to excessive slip. I am in the process of testing this, so I will let you know what I find out.

EDIT: Once I started using the IMU on the Husky, it started working fine.