perimeter wire app. nice and gently with ODO "ON"

[flyfast]

Dear all,
how and where can I adjust the odometry to reduce the hard braking action during approaching the perimeter wire.
Without odometry the system works nice and gently.
With Odomerty in "ON" it will rip out the motors or damage the gear after a while for sure.
It needs to be adjusted.
PCB 1.3, DUE. The current adjustment is as follow:
Odometry2D:
Speed max. 16,00
RPM_P 0,95
RPM_I 0,37
RPM_D 0,00

Thank you for an assistance

UWE

 

[flyfast]

Hello Experts,
Is there no Recommendation or Suggestions in the Field?
Where can I start to troubleshoot?

UWE