Yes indeed if you set FF to 0 it takes an excruciating long time to change heading; the D or DD component resist the heading change, so to speak, and the FF puts a little weight in it. My boat is 9m long keel, 5 tons, for comparison, and it is sluggish to say the least but the FF makes for an ok response. Can't hurt your boat to crank up the FF for a little test, can it?
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PyPilot doing remarkably well on long trip
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