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Rudder feedback sensor and endstop switches clarification
#1
I am frustrated. I cant find the information nowhere and i searched a lot so here i am. 

1)Does anyone know what is the importance of a rudder sensor in the pypilot system? Is it only just to show the position in opencpn or does it have impact in the autopilot algorithm?

2)The endstop switches stop movement in the direction where the switch is HIGH. If there is a rudder sensor present and you have correctly configured the limits, can you omit the endstops? Will pypilot prevent movement outside of the configured limits?

3) I see that the MLX90316EGO-BCG-000 (the 16 pin version) has analog output and two programmables digital outputs. Has anyone used it to program the endstops to the outputs? I understand that the sensor cant be mass produced because you need to program the angle of the digital outputs with SPI on the vessel but is it doable?

Thank everyone and especially Sean for the GREAT project !
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#2
1) It shows the rudder angle and can be used to stop movement. Otherwise the motor controller has to detect end of travel by a current spike. There is a provisional "absolute pilot" which does use the rudder angle but it is not really tested or proven.

2) Yes, you can use both the rudder angle and end stop switches. Either will prevent further movement in that direction.

3) Maybe possible, but it is normally used with the analog output version, and this gives both end stops as well as reporting rudder angle. Is there a reason you want to use a digital output?
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#3
I thought that if i need the switches for safety( despite the rudder sensor) not to break something then it would be a more compact solution. Now that you are telling me that hiting the limits on the rudder sensor will stop moving to this direction then the switches are optional for me. I will install a rudder sensor.
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#4
nothing should break even with no feedback.

If you have both then the switches would backup the rudder feedback sensor if it somehow failed, but even if it did, the current sense should work as a backup.

So yes it is needlessly complicated to have both, but it is supported.
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#5
Whilst on the subject of a rotary position sensor, Sean, I saw you created a 3D-printed wind instrument. Is there anywhere a description of the sensors used - also the one for the anemometer? Thx!
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#6
I am redesigning it to eventually use lora so it can manage with a small 100mW solar to power it.

The sensor had to change because because it used too many milliamps, but was a spi angular hall sensor.
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