Hello, Mark here.
We are way behind on getting a true production release to update v35, sorry about that.
A great many firmware bug fixes as well as better PID parameters have been coming along since v35. These changes require both updated firmware as well as updated host code to take advantage of new firmware abilities. We are actively trying to get out a new image and once this is out we will be then ready to put out firmware so the two work together.
As far as PID parameters Vid mentioned how we show the PID parameters in the /diagnostics topic of ROS but that is only true on rather recent hostside software (on raspberry Pi linux).
The PID parameters can be seen and directly edited for new values in base.yaml file.
Edit base.yaml: sudo vi /opt/ros/kinetic/share/magni_bringup/param/base.yaml
Try the values I show below which are less aggressive and lower the amount of ‘chatter’ which is what we call what you are discussing. Edit the above file, change to these.
Dont change other things. Save the file and reboot and the new parameter will be active.
If you want to live ‘closer to the edge’ you can request beta firmware from me and try that out as well. Look at this page for how to do firmware updates.
If it will not let you get the v38 beta from the web (don’t recall if that is setup for request yet) I can send it to you and you would use the --file option. let me know.
There were other v38 beta dates so verify your firmware comes up in /diagnostics with the 0909 version (sept 2020).