Yacht Devices YDNG-03, User Manual, Page: 30 / 48

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or RMC sentence or from the NMEA 2000 messages (must be turned on in the Gateway settings).
If your NMEA 2000 network has GPS data, it can use data already available on NMEA 2000 and sending of
the ROT, HDG and RMC sentences from the application may not be required. It is better to send minimal
data from a PC to the NMEA 2000 network if possible.
Depending on the autopilot sensitivity settings, autopilot can control your vessel smoothly or aggressively.
The application only provides the situation (where is the waypoint and how far we are from the route),
but the course to steer and the rudder angle are defined by the autopilot logic.
Switching of waypoints is the work of the application. If the arrival radius is set to 1 NM, application
can switch to the next waypoint when the current point is still a mile away. If your route is circular
or approximately so, the application can unexpectedly switch from the first point to the last. You should be
familiar with your application settings and test how the system works on the open water.
The autopilot can warn you or ask for your confirmation when the application changing the waypoint.
It depends on autopilot settings. When the application terminates the navigation, it usually stops sending
APB and RMB sentences. Autopilot usually switches to Auto mode and signals about that.
Raymarine autopilots use proprietary messages to control. The Gateway was tested with the two systems,
but we also expect that it will work well with all other Raymarine SeaTalk NG autopilots:
• Raymarine C90W chartplotter, Raymarine SPX SmartPilot SPX30 and Raymarine ST70 Pilot Head;
• Raymarine c125 chartplotter (LightHouse 17), Raymarine EV-1 Course Computer and Raymarine
ACU200 Actuator Unit.
To control Raymarine autopilot:
• its support must be turned on in the settings (see VI.6), because it is turned off by default;
• autopilot must be initially set to the Auto mode to be controlled from the application;
• the application must provide RMB sentence;
• the application should provide an HDG or RMC sentences or using of NMEA 2000 variation
must be on in the settings (see VI.8);