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On this page, you will find a comprehensive list of Autopilot Parameters and a Servo Error Log. This information is intended for advanced users and developers who want to gain deeper insight into the behavior of the Autopilot and troubleshoot errors.

The displayed parameters provide detailed information about the internal operation of the system, including:

• Current heading information, such as the measured heading (ap.heading) and the desired heading (ap.heading_command), as well as the heading difference and its derivatives.

• PID control parameters, including values for P, I, D, and FF.

• Active pilot mode and the currently selected profile.

• Servo settings such as rudder position, command values, power settings, error status, and slewrates.

• Sensor data from the IMU (accelerometer, gyroscope, compass), including current heading, heel/pitch/roll angles, heading rate, and calibration status.

• Tack settings for tacking maneuvers, such as angle, threshold, delay, and direction.

• Wind and GPS data, if available, including source selection, speed, direction, and damping settings.

• Calibration data for the compass and acceleration sensors, including raw measurement points and log messages.

The Servo Error Log displays error messages from the MotorController, such as:

• Excessive current draw

• Servo out of range

• Other hardware-related errors