2020-05-24, 03:49 PM
Sorry for this. Definitely something is not working right. The motor is supposed to just move at the tack speed until the boat's heading reaches the tack threshold before switching back to normal autopilot mode on the new tack. This is simplified and obviously isn't the best strategy since tacking in different sea states need completely different settings for this.
With rudder feedback tacking could probably be improved, and it would be interesting to use rudder angle here. The rudder can move to a known angle and wait until the tack threshold is reached. Without rudder feedback this also may work better, by moving the rudder a constant amount and waiting.
With rudder feedback tacking could probably be improved, and it would be interesting to use rudder angle here. The rudder can move to a known angle and wait until the tack threshold is reached. Without rudder feedback this also may work better, by moving the rudder a constant amount and waiting.