# Tuning

The **Tuning** screen provides real-time insight into the autopilot’s performance and allows you to adjust steering parameters (Gains) directly.

<figure><img src="https://3611896438-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-Mf7j4nUAIpHY72_rYOl-1703796690%2Fuploads%2FzMhISTGOtPsoBrCHfNHr%2Fimage.png?alt=media&#x26;token=c7acdbcd-5995-407a-9c37-68eade00077c" alt=""><figcaption><p><em>Screenshot Tuning-pagina van webinterface</em></p></figcaption></figure>

## **Graphical Display**

In the chart, you will see:

🟧 **Orange Area** – Desired Heading Band\
This represents the acceptable deviation from the set course.\
As long as the boat's heading (red line) stays within this area, the course is considered acceptable.

🔴 **Red Line** – Actual Boat Heading\
This line shows the real-time heading of the vessel, as measured by the compass.

🔵 **Blue Line** – Autopilot Steering Correction\
This indicates how much (and how often) the autopilot is making adjustments to stay on course.

## **Gains (Adjustable Steering Parameters)**

On the left side of the screen, you can adjust key steering settings such as:

### Aggr level

The *Aggr* setting determines how aggressively the autopilot reacts. Use the **–** and **+** buttons to adjust the response level to your preference.

This option is only available when you create a new profile based on the *Default* profile.\
To do this, click the **+** button in the top-right corner to duplicate the *Default* profile. The new profile will be locked by default. Start by adjusting only the *Aggr* level to achieve optimal performance.

You can then unlock the profile to manually fine-tune individual parameters.&#x20;

{% hint style="info" %}
Please note: if you manually adjust just one parameter, the internal balance between settings is lost, and *Aggr* will become unavailable (*N/A*).
{% endhint %}

### Parameters

| Parameter | Meaning                                        |
| --------- | ---------------------------------------------- |
| **P**     | Base response to heading deviation             |
| **PR**    | Response to rudder position                    |
| **I**     | Long-term correction (usually 0 for sailboats) |
| **D**     | Damping to prevent overshooting                |
| **DD**    | Additional damping for faster course changes   |

## **Performance Analysis**

This panel provides real-time feedback on steering performance:

| Value                      | Meaning                                          |
| -------------------------- | ------------------------------------------------ |
| **Actual**                 | Current heading                                  |
| **Target**                 | Desired heading                                  |
| **Command**                | Current steering output                          |
| **Unstable system**        | Instability indication (true/false)              |
| **Rise Time (s)**          | How quickly the course change starts             |
| **Overshoot (%)**          | Amount by which the course overshoots the target |
| **Settling Time (s)**      | Time until the system stabilizes                 |
| **Steady state error (°)** | Constant heading deviation from the target       |

{% hint style="info" %}
Tip: Keep an eye on the behavior of the red and blue lines when adjusting the Gains.\
Aim for stable, smooth corrections that stay within the orange band.
{% endhint %}