2019-09-25, 03:20 PM
(2019-09-20, 02:12 AM)seandepagnier Wrote: I am not sure what you mean "latch" but the maximum rudder deflection angle can be set by the user already.
It is possible to make the autopilot more accurately move the rudder at the right speed (calibrate speed from command vs current draw), as well as automatically set the gain as you say based on the rudder feedback if it exists. Also possible to have an autopilot that commands the rudder in absolute position.
All of this is planned for the near future to play with, and it does as you say get a better starting guess for the gains.
Still the type of boat and desired steering will ultimately determine the gain setting.
Latch is to grab and hold onto; like sample/hold, then store in signalK node, as say: ap.rudder.maximum.port and .starboard.
Example: if one is reaching/hitting maximum rudder deflection angle(already available) quite regularly (very inefficient), this will indicate that condition; and mechanical tiller adjustments might be necessary and/or response rates/gains will need to be corrected to mitigate operating in "near-rudder-stall" conditions
Will also enunciate unbalanced linkage, friction-points and movement not obviously noticeable; showing up as +18/-13 vs +18/-18.
Just a thought