I agree with the previous post. I think a fast response time to keep an exact heading, would just drain the batts. Would be nice on a calm day motoring but in waves and wind
, not good. Motor
would run back and forth and never stop. So i think an averaging over time and then make a small correction and "wait" to see if the correction worked would me my method. You constantly get knocked back and forth heading wise so no point in correcting when the next bounce might straighten your heading out. Maybe record
headings every second, then average them over 10 seconds. Ignore any angle change under 5 degrees and only move the rudder
if average heading changed more than 5 degrees. Then do a "preset" rudder deflection, then return to center. The amount of deflecton tuned as needed to not spill drinks. Then wait till the next 10 second cycle and compare the new average heading. Also record
the direction of heading corrections so that if the autopilot corrects the heeading 2 or more times in the same direction then make a small shift in the neutral rudder angle so next correction is smaller than the last one so any weather helm
would be tuned out in a few cycles. Relieving the autopilot from constantly correcting for the same thing.
All of the perameters for "turn rate" "delay time" and so forth could be adjusted "on the fly" with pots making setup real easy.
I love working out logic problems and programming stuff like this.
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