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28/02/2020
G Steering Control period
Adjusts the timing routine of the
Steering PID routine. Slightly
related to the speed of the
rudder.
H Heading adjustment
In this mode you can adjust the
heading offset of the compass.
Range: -10.0 to 10.0
I Baud rate of Serial Port 1
The GPS input port. Baud rates
up to 38400 are available.
J Baud rate of Serial Port 2
The Compass input port.
Adjusting the PID control
PID stands for Proportion, Integral
and Derivative, which are the three
calculated values that when summed,
result in the adjustment value. This
value is the position to where the
Rudder must be driven.
Below it is described how each
of these values contributes to
the control of the vessel. These
value differ for the different vessel
setups and different types of rudder
feedback used.
• Proportional value:
The larger the error from the
desired direction from the current
direction of the vessel, the larger
this value is. It provides a more
responsive system when the boat is
too far from its desired direction.
However, this proportional value
may be not enough when the
vessel’s direction is being disturbed
by some force that takes it from its
route (unbalanced load, wind...).
In the autopilot, the gain
(contribution) of this value is
adjusted with the rudder ratio.
• Integral value:
This portion of the control value
integrates the error, for the
compensation of forces and
disturbances that the proportional
control value can’t cope with. It is
intended to provide no error on the
vessel’s direction result.
The adjustment of the gain for
this parameter is explained in the
sections “Technical Adjustments”
and “Parameters List” (parameter
7) above;
• Derivative value:
This value is intended for providing
stability to the system avoiding
“hunting”. It is based in the variation
of the error, in this case, how fast
the boat is turning. This value will
be zero when the vessel is not
turning, and will oppose the to the
turn movement when it happens.
The adjustment of the gain for
this parameter is explained in the
sections “Technical Adjustments”
and “Parameters List”
(parameter 8) above.
