2019-09-05, 11:05 PM
(2019-09-05, 05:42 PM)seandepagnier Wrote: You can compile from github yes.
Increasing the I gain will reduce the cross track error, but also increases instability if too high.
I don't think command+=300*xte is the reason you cannot stay on track
You might also need to tweak the xte gain as well as the I gain.
Also try alternative algorithms besides xte, or even implement and adaptive one if needed.
Thx, I have it now. I trawled through the Cruisersforum treads, so I understand the background, and I can see changes in the OpenCPN user interface when the plugin is enabled (Windows/ 5.0). Still, I am a bit in the dark with how it exactly works and how I can see it working in the lab, as I am not moving and don't have gps feed here. I guess it overrules the original OpenCPN autopilot NMEA messages and dishes out a smarter, more dynamic version of these messages?
What can I do with the 3 multiselect boxes in the preferences menu?
How should I interface to my Tinypilot? Still via the 20220 socket?