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yes, a gain of 6.7 is rather high
I am now simulating boat dynamics as differential equations to hopefully implement various pilot algorithm alternatives to the basic pilot... The basic pilot can require some tuning and will eventually oscillate in certain states if tuned wrong, or if the motor is not fast enough, or if the lag or response time or play in the linkage is too great.
Posts: 2,356
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Joined: Jun 2016
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Thanks for making the video!
The FF of 2.5 is quite high. I may need to improve the calculation because there are a few constants involved that users cannot change and I never used such a high value in my tests.
I have a bunch of experimental pilots as well that may or may not improve performance.. so pypilot continues to improve.