For some reason I could not view anything on the log that was sent. I could not graph anything. problem on my end I guess. With my boat I have noticed that my I is 1/10 of my P and then I tweak the NAVL1 to smooth thing out. The way I have tuned was to play with P and I to the point that the boat goes in a very straight line but weaves back and forth really fast. Then try a little less I and NAVL1 a little higher till things smooth out. Every boat will be different. I still also look at the sea state that you run in. I usually run in fairly calm water and when I don’t my rudders work harder than I really want them to but the boat maintains course.
David R. Boulanger
I think you are spot on in saying that each boat will be different David, but I would add that changing the speed of a craft also makes a big difference, just as it does with a autopilot on a big boat. If only it was as simple to adjust the Pixhawk as it is on a real autopilot.
As ArduBoat owners we should compile a database as follows:-
Length of Craft - 2.9m
Type of Craft - Trimaran
Power - Gas 2.5hp Suzuki Four Stroke
Top speed - 22kph
Flight Controller - Pixhawk 1
Can you send a link to another log with the wobbly path when the NAVL1_PERIOD is set higher and I’ll have another look?
Spent the whole day yesterday adjusting parameters and managed to get it pretty close to straight using the following settings:-
NAVL1_PERIOD = 20
STEER2SRV_P = 6
Cruise Speed = 4m/s
Strangely enough it behaves better in one direction and worse when coming back?
i think may be your steer servo’s problem, it’s response is too slow to process the steering timely