2024-03-22, 11:44 PM
(2024-03-22, 09:03 PM)seandepagnier Wrote: I did not change the algorithm but I did possibly constrain the range, so .25 is likely the maximum value supported.
There is one way around this... You could change "servo.gain" to say 2 instead of 1. This would effectively double all the gains. I am not sure you need this. Maybe it is "ok" with the settings you found?
I am glad you hear it works better, but 10knots is not much wind... What was the boat speed? In higher wind, you might end up reefing the mainsail sooner if you cannot find a faster drive.
OK, thank you for the servo.gain tip, I believe i might have to use it because the test I made was in light wind building up with small waves, the boat was going at 4.5 knots under genoa only (no main sail), in the end the wind came at 90° and up to 15 knots, the pilot started to struggle then...but managed to keep the boat on the course. At this point I still have the feeling that the pilot reacts a bit too late and not enough. Servo.period is set at 0.4.
More tests to come soon...