2018-09-17, 09:19 PM
Perhaps the biggest documentation need for Pypilot will be a description of the various Gain settings, and a description of how to go about dialing in Pypilot in a new installation.
Sean explained these in another thread:
What gains should be adjusted and when? How might the on-screen display of the various Gains firing help in finding the right settings?
A video on this topic might also be helpful.
Preferably avoiding complex mathematical concepts.
Sean explained these in another thread:
Quote:D2 -- experimental is the D gain squared. Will make adjustments with very fast boat movement but not much if the boat is turning slower. Is non-linear
FF -- feed forward This gain applies rudder movement with changing heading command. When holding a heading it does nothing, but takes effect following routes, or when you adjust the heading
DD -- rate of rate of change. basically the derivative of the D gain, very useful to reduce overshoot and lag
PR -- experimental Square root of position gain. This makes less movements when the heading is very wrong to avoid overshoot.
What gains should be adjusted and when? How might the on-screen display of the various Gains firing help in finding the right settings?
A video on this topic might also be helpful.
Preferably avoiding complex mathematical concepts.
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