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PyPilot doing remarkably well on long trip
#11
My servo.gain is 6.7. I have no idea or recollection of how that happened. And to be honest, I have no classical understanding of what it means either. I think this is my cue for building up a workbook page with all information that can be found on this forum on what all those parameters mean.

Attached my pypilot.conf.


Attached Files
.txt   pypilot.conf.txt (Size: 2.37 KB / Downloads: 23)
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#12
Hi Ironman
thanks again.

A far as I understand the servo-gain is an mulitiplicator
to your gain settings.

I was wondering at your low P and D settings, but with your
high servo-gain this makes sense.

I posted a video sailing downwind and the settings a while ago.
https://forum.openmarine.net/showthread....6#pid16116.

so when I m back on the boat I will have a closer look at yor conf file .....
Greetings
Andreas
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#13
Hi Ironman

here is my pypilot.conf file: 
.txt   pypilot-conf.txt (Size: 2.53 KB / Downloads: 10)

Taking the servo_gain´s in consideration and the different caractaristics of the two boats ( mine is 13 Tons long keel )
the settings make sense to me.

A considarable difference  the FF gain, wich I think determines the speed the boat reacts to course change, there yours
must be verry quick in responding. On the other side maybe there is a physical limit by the maximum speed the autopilot
can move so if you lower your FF there might be no change until you below that phyiscal limit.

Greetings 
Andreas
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#14
Yes indeed if you set FF to 0 it takes an excuciating 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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#15
servo gain is usually set to 1.0 I added it for special cases where the regular gain range was not enough. Is it really set to 6.7?

Yes, the FF gain helps react to heading changes, since as you say DD and D resist this, and P is too slow.
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#16
Just checked the code and the servo.gain is certainly not simply a multiplication factor for the gains, as suggested earlier; it has something to do with the speed of the servo. Yet, it seems to have a reflection on the gain settings. I know I ran into radically different gains when I upgraded tinypilot and motor.ino last year, and attributed the different gain settings to that. But I think it must have happened when I scrolled through the pypilot_client gui with the mouse. I know one thing: I'm not going to change it now, because pypilot runs better than ever. Just came back from a 200NM trip, at least 30 hours on pypilot.


Code:
servo.py:        speed *= self.gain.value # apply gain
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