2020-01-11, 04:18 PM
(This post was last modified: 2020-01-11, 04:19 PM by seandepagnier.)
(2020-01-11, 08:58 AM)CapnKernel Wrote: ...
I had the suspicion that my rudder command might go into the wrong direction. And sure enough, even though the buttons for "go a little port" or "go a little starboard" were functioning at the dock, the moment I started using the automatic course keeper, the boat always steered in the wrong direction!
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while motoring. This reversal between standby and engaged is definitely a bug!
So the direction is reversed for manual mode. The current source code supports assigning the keys on the web interface.
Quote:On the second day we sailed on a beam reach, and the autopilot did a good job of holding course with minimal input. It had the tendency to stop a few degrees short of the desired heading, so I raised the P and D values, which seems to have helped.It depends on your style also and comfort. Sometimes making the autopilot steer straighter uses less power, at least on unstable courses. You can decrease the gains on naturally stable courses like upwind to save power. Many wind vane steer + or - 10 degrees when running in following seas and this is acceptable as long as the sails can stay full. The autopilot usually does better but doesn't have to.
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On the third day we had a following sea, and the autopilot did very nicely, with it working the helm noticeably less than I was in the circumstances. So that's good results in three different sea states.
On this third day, I used the LCD interface to set the autopilot type to "learning". The result of this is that
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This pilot is not at all functional yet and I don't think it produces output commands or anything. I haven't even had a chance to make trials. It should not be in the list unless you installed tensorflow so I'm surprised it was available.
Sean