Profiles

By clicking on the gear and then on Profile you will arrive at the extensive page with the settings for the steering behavior, for fine-tuning choose Tuning!

You can create and select profiles, where everything that can influence steering behavior is customizable. By default, you only have the default profile, the settings of which cannot be adjusted.

You can create a new profile by clicking the + at the top right, entering the new profile name and then clicking Duplicate. The new profile has now been created and activated immediately.

Clicking on the profile name opens the menu where you can select/activate the desired profile. This is of course also possible via the ControlHead menu.

By clicking on the trash bin you can delete the selected profile.

The easiest way to get the desired steering behavior is to use only P (3.) and D and DD (4.). For a full description of all possibilities see tuning gains.

With P the aggressiveness is set, if you find that the autopilot reacts too slowly then set P higher.

We are used to slide D and DD up and down at the same time, if you increase P the pilot will give more rudder, your ship will turn faster and therefore overshoot can occur after reaching the set heading, to prevent the overshoot you need to increase D and DD.

If the set heading is not reached and there is too much counter-steer before the set heading is reached, you should lower D and DD.

FF is used as turning speed during a set heading change, the higher the faster you will be steered to the new set heading.

Tack Settings

13. tack.angle:

Here you set the degree of tack for use when sailing on compass or GPS heading.

If you are sailing on a wind heading, the tack function will automatically take the opposite heading.

14. tack.delay:

This allows you to delay the tack after activation, if desired, so you have time to perform a few actions before the tack actually starts.

15. tack.rate:

The tack rate determines the turning speed during the tack

16. tack.treshold:

Set this value as high as possible, if your ship turns too far after the tack then lower it.

Servo = Motor / Drive settings:

17/18. max_slew_slow / speed = speed of acceleration and deceleration

Lowering both of these will give you a smoother motion - dampens starting and stopping.

The value of slow cannot be lower than that of speed.

19. period = minimum duration of a correction

In the lowest position, the autopilot reacts immediately to the smallest change with small movements.

20/21. speed.max/min

Decreasing max limits the maximum speed of the drive.

in combination with our drive we see no influence of speed.min

The value max cannot be lower than min.