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Adjusting Gains 101
#1
Perhaps the biggest documentation need for Pypilot will be a description of the various Gain settings, and a description of how to go about dialing in Pypilot in a new installation. 

Sean explained these in another thread:


Quote:D2 -- experimental is the D gain squared. Will make adjustments with very fast boat movement but not much if the boat is turning slower. Is non-linear
FF -- feed forward This gain applies rudder movement with changing heading command. When holding a heading it does nothing, but takes effect following routes, or when you adjust the heading
DD -- rate of rate of change. basically the derivative of the D gain, very useful to reduce overshoot and lag
PR -- experimental Square root of position gain. This makes less movements when the heading is very wrong to avoid overshoot.


What gains should be adjusted and when? How might the on-screen display of the various Gains firing help in finding the right settings? 

A video on this topic might also be helpful. 

Preferably avoiding complex mathematical concepts. Smile
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Messages In This Thread
Adjusting Gains 101 - by Saqqara - 2018-09-17, 09:19 PM
RE: Adjusting Gains 101 - by seandepagnier - 2018-09-18, 03:47 PM

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