2021-09-22, 01:56 PM
(2021-09-22, 05:32 AM)seandepagnier Wrote: So it used to work but now the performance is worse? If it used to work before and doesn't now, that indicates either the settings changed or the sensors failed (such as the z gyro axis not working anymore or something), in either case this can be solved.Yes was OK for months.
+-5 degrees is generally not that bad.. but in flat water it should be able to do better. Generally tweaking the gains could help. Such as increasing DD gain, reducing P gain etc. A full dump of parameters would help. If you can pull the pypilot.conf and post it, or at least show your gains and settings on the webapp it may provide clues.
As for being 30 degrees off.. that is bad. Did the course it displayed for compass seem at all accurate? Was it 30 degrees off it's displayed course or a different compass or gps course?
As for lots of I, how much? In waves +- 5 degrees can be acceptable.. it depends on the boat/person but a long a the sail are pulling... Anyway generally having a tighter control is better but it may also require a faster drive motor.
I also suggest keeping a close watch over the pilot in 150' channels... because there is not a lot of room for error or time to react, but I also sailed many miles in channels and managed.
I'll get pypilot.conf today.
Pypilot reads the same as the magnetic compass.
More properly stated it's not off by 30 degrees but acts like 30 degrees off is as close enough.