2024-05-18, 04:25 PM
Hi Sean
I agree a switch in series with the clutch would be nice, but from under-deck it would have to route the cables 4 meters each way back to the chart table and adds extra connection that can corrode or come loose. I already had one problem with a dry joint connection that could carry voltage but not current.
As following Murphy's Law the one "misbehaviour" happened when the wind and waves had rapidly increased while I was weaving between island and boat was over-canvased and surfing at 8+ knots. After I took over control I reefed the sails, got a distance offshore and put the rebooted Tinypilot back in control at a nice 6~7 knot boatspeed and it was good for the remaining 20 miles of my journey. I will double check the calibration was locked. No further problems have ever been seen. I have an updated a Pi Zero with latest beta image installed and the new gain menus look good and I will swap this in and recalibrate in a few weeks time.
I now have an old android phone with bicycle mount on my binacle so I can see pilot status over wifi so I can see how far off course the pilot if I suspect misbehaviour. I also have a RF garage door controller relay that goes to the "standby" so these are my first point to take back manual control. I use the IR aimed down the companionway to make the course adjustments and have the phone at the wheel as feedback that the changes have been seen.
All up I am a very happy sailor and looking forward to cruising the Greek Ionion islands in June! You are welcome to join me if you are ever in that part of the world, and enjoy Greek food and wine as much as sailing.
Many thanks
Andrew
I agree a switch in series with the clutch would be nice, but from under-deck it would have to route the cables 4 meters each way back to the chart table and adds extra connection that can corrode or come loose. I already had one problem with a dry joint connection that could carry voltage but not current.
As following Murphy's Law the one "misbehaviour" happened when the wind and waves had rapidly increased while I was weaving between island and boat was over-canvased and surfing at 8+ knots. After I took over control I reefed the sails, got a distance offshore and put the rebooted Tinypilot back in control at a nice 6~7 knot boatspeed and it was good for the remaining 20 miles of my journey. I will double check the calibration was locked. No further problems have ever been seen. I have an updated a Pi Zero with latest beta image installed and the new gain menus look good and I will swap this in and recalibrate in a few weeks time.
I now have an old android phone with bicycle mount on my binacle so I can see pilot status over wifi so I can see how far off course the pilot if I suspect misbehaviour. I also have a RF garage door controller relay that goes to the "standby" so these are my first point to take back manual control. I use the IR aimed down the companionway to make the course adjustments and have the phone at the wheel as feedback that the changes have been seen.
All up I am a very happy sailor and looking forward to cruising the Greek Ionion islands in June! You are welcome to join me if you are ever in that part of the world, and enjoy Greek food and wine as much as sailing.
Many thanks
Andrew