2021-09-23, 02:48 PM
(2021-09-23, 08:12 AM)seandepagnier Wrote: What is immediately obvious is a very low P gain of .0018. I would increase this to .0035 or .004 and see if performance improves. The default is .003.Thanks Sean
The D gain is a bit high at .16, but if you need .16 to hold a straight course, then ok. set P to .004 or .005 even. The D and DD gains are what keep the boat going straight, and the P and I gains are what correct the course error... sort of.
Another setting to modify is servo.speed.min. It is set to 50, which will be quiet but may react slower. If you can increase this to 80 you may see improved performance.
You have also changed the servo.period to 0.22 which is normally low. It will make short corrections but overall may not be better than the default of 0.4 It really depends on the boat and you will have to experiment, but preferably change to 0.4 after you fix the gains and then change one setting at a time and compare the results.
I'll try your suggestions
The reason for the servo.speed.min and servo.period is my drive is very overkill hydraulic drive and wanted to make smaller corrections in light conditions.
I did save the initial pypilot.conf and I think I'll try if it still has issues as ironman suggests.
Next issue is want to resolve asap but need to pull out boat soon and light wind days this time of year are rare.