2020-11-15, 07:18 PM
the bar color indicates if that particular gain is contributing to port or starboard adjustment. If it turns blue it has saturated.
There is no "accepted error" with the basic autopilot algorithm, it does what the gains tell it to. So higher gains would give stronger reactions and lower errors, but tendency to use more power or over correct.
the reactive gain is experimental it is probably best you leave it at 0. I suggest also setting the integral gain I to 0
the servo.gain will drive the motor harder and is essentially the same as increasing all the gains. If it is negative it allows the pilot to steer if the wires to the motor are otherwise backwards.
Can you confirm the reported heading was 20 degrees different from the one you commanded? Because maybe the compass is out of calibration. The P and PR gains react to absolute heading errors and it's likely you should increase them, but if significant over steering occurs you will need to increase D and DD as well to compensate.
The FF gain will react to immediate changes in heading, so this may be useful to increase to get the boat to change course more quickly.
I'm working on/planning alternative algorithms which use different gains and parameters and even can learn as they go but the basic autopilot with these gains has already proven to work well in a wide variety of boats and conditions.
There is no "accepted error" with the basic autopilot algorithm, it does what the gains tell it to. So higher gains would give stronger reactions and lower errors, but tendency to use more power or over correct.
the reactive gain is experimental it is probably best you leave it at 0. I suggest also setting the integral gain I to 0
the servo.gain will drive the motor harder and is essentially the same as increasing all the gains. If it is negative it allows the pilot to steer if the wires to the motor are otherwise backwards.
Can you confirm the reported heading was 20 degrees different from the one you commanded? Because maybe the compass is out of calibration. The P and PR gains react to absolute heading errors and it's likely you should increase them, but if significant over steering occurs you will need to increase D and DD as well to compensate.
The FF gain will react to immediate changes in heading, so this may be useful to increase to get the boat to change course more quickly.
I'm working on/planning alternative algorithms which use different gains and parameters and even can learn as they go but the basic autopilot with these gains has already proven to work well in a wide variety of boats and conditions.