# Inconsistent CANBUS\_TIMEOUT errors occur during track following

**URL:** <https://discourse.farm-ng.com/t/inconsistent-canbus-timeout-errors-occur-during-track-following/586>\
**Category:** support\
**Created:** [November 13, 2025, 12:15am UTC](https://discourse.farm-ng.com/t/inconsistent-canbus-timeout-errors-occur-during-track-following/586 "2025-11-13T00:15:28Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![PatrickD](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/patrickd/32/380_2.png) [@PatrickD](https://discourse.farm-ng.com/u/PatrickD)\
**Post date:** [November 13, 2025, 12:15am UTC](https://discourse.farm-ng.com/t/inconsistent-canbus-timeout-errors-occur-during-track-following/586/1 "2025-11-13T00:15:28Z")

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Hi all,

I am using a modified version of the waypoint-navigation branch of the farm-ng-amiga repo. The Amiga detect objects, calculates their gps location, and creates a track to follow to get to the object. Currently, there are infrequent CANBUS\_TIMEOUT errors that I have not been able to pin down a cause for. Once experienced, the robot quickly recovers, but can make for less accurate track following at times.

Resistance across the canbus is correct, and all canbus diagnostics commands I have used indicate the health of the network is fine. I suspect gRPC may be the cause of the timeout if this is getting overloaded with commands, but I don’t understand gRPC well enough to confirm this. Has anyone experienced similar?

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**Author:** ![MScatolin](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/mscatolin/32/312_2.png) [@MScatolin](https://discourse.farm-ng.com/u/MScatolin)\
**Post date:** [November 20, 2025, 1:05am UTC](https://discourse.farm-ng.com/t/inconsistent-canbus-timeout-errors-occur-during-track-following/586/2 "2025-11-20T01:05:52Z")

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Hey Patrick,

Did you try increasing the wheel odometry stale threshold on Settings \> Robot Localization tab on the Brain?

We noticed occasions when the CAN bus gets busy and are testing on some settings to improve it.

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<div class="post-metadata">

**Author:** ![PatrickD](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/patrickd/32/380_2.png) [@PatrickD](https://discourse.farm-ng.com/u/PatrickD)\
**Post date:** [November 20, 2025, 1:13am UTC](https://discourse.farm-ng.com/t/inconsistent-canbus-timeout-errors-occur-during-track-following/586/3 "2025-11-20T01:13:59Z")

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Wheel odometry has been set to 1s for all our testing. I see the default is 0.5s. Should this be further increased?