GPAPB and tacking in wind mode

[johnm]

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.

Sean
Agree rudder angle would be ideal.
Need to think of what I really do while tacking but suspect the rudder angle is the same no matter what the conditions are.

I think specifying the time needed to get the rudder to the correct angle should work.
Should be  able to just put it back the other way the same amount of time as you approach the target heading.
Provably will take some tweaking to figure out when to bring rudder back and switch to regular control.

Have not used wind yet but only see using it  close hauled or when going close to down wind to avoid jibes.

How about a jibe preventer mode when on gps or compass to stop jibes?
Should have an alarm,