I punted and did the position computations in UTM. It was too easy to resist. It seems to work, although I haven't set flags to ensure that it's accurate. I did get to test it a little just as the weekend drew to a close:
https://www.youtube.com/watch?v=ahNrSzDnw3E
It was nice and boring, except for some connectivity problems which caused it to stop occasionally.
I have a lot of tweaking to do on the steering. I'm using my old PID code for this and it showed - lots of drifting off course and then jerking back.
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