Tuning

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

Screenshot Tuning-pagina van webinterface

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:

Parameter	Meaning
Aggr	General aggressiveness (multiplies other values)
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

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.