Yet another pypilot movie. Over the last week, I did two 60NM stretches in open sea, almost entirely on pypilot without any problems. Both stretches had wind and waves from behind, normally the most difficult point-of-sail course to hold course. I use the default settings for P and D (0.003 resp. 0.09), added DD (0.1) for quick response to deviations, and FF (2.5) for quick response to manual course changes. The DD gain signifies rotational acceleration: the moment it starts turning, he reacts. It is the only gain I tweak now, but one click from zero seems to be just fine.
https://photos.app.goo.gl/U2iZYgH7XUJBCjqt6
https://photos.app.goo.gl/U2iZYgH7XUJBCjqt6