Autopilot route plugin

[jamos.tan@gmail.com]

The gpx file is: gpx file download
My starting coordinates are: 52.636306,5.059992
I've tried various settings, and the settings when it crashes are:

- gps (so, compass unchecked) does not work, compass check works. 
- edit: if no gps data is available, but gps mode is enabled opencpn will not freeze, when gps mode is enabled and gps data is available opencpn will freeze
- great circle (shortest distance) does not work, mercarator (constant bearings) does work
- intercept route on current course does not work
- 1hz works, 10hz crashes opencpn, 2 and 5hz reverses the heading and does strange things with gps reception

Following tests have been done with magnetic mode on because gps mode does not work, I guess I would have other results if gps mode will work:

- waypoint bearing works, however will not take the next waypoint that is in the given direction, but rather takes another one, sometimes even the one you just passed. It seems to ignore direction of the rout.



- Standard XTE does the following, chooses the one I just passed:



- Route position bearing comes closest to following the rout, but in the beginning of the route still steers in the direction of the opposite route:



But, then as it approaches the first corner, it will follow the normal route again:



So, it seems that sometimes the direction of the route is ignored and just sees all waypoints as possible directions, based on the plugin configuration, even if this means it is a waypoint behind you or if you are approaching a near waypoint for the other direction.

Some configurations will close opencpn, and some will make it freeze opencpn.
The best configuration for me, to avoid these problems is this one: