TMQ AP4 - GPS - Waypoint Steering

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TMQ AP4 | Revision Date: 01.07.2022 Version 10588
GPS – Waypoint Steering
Autopilot must be interfaced to a GPS
Plotter generating NMEA 0183 data
output. A route has to be selected on
the GPS (refer GPS manual).
Note: Before using this functionality,
make sure the auto mode is
working properly and adjusting
its variables if necessary. How to
adjust the auto mode is explained
in the section “Sensitivity & Rudder
Adjustments” and also. If necessary
some advanced settings, they are
described in the sections “AP4
Special Modes” and “Adjusting the
PID control”.
Engaging GPS Mode
• Switch MODE switch to AUTO
• Press GPS button (labelled with a
satellite dish)
• GPS light will light
• Display changes to course to steer
(BTW on GPS)
• Boat may change course to take up
new course (the maximum rate of
turn, if necessary, can be adjusted
with the special mode 920)
Disengaging GPS Mode
• Press the GPS button
• GPS light is out
• Pilot locks on to current heading of
If no GPS data or AP4 does not
receive the data
• Autopilot maintains lock on the
current course
• No GPS data alarm will sound
• GPS light will ash
Changing the mode switch to any
position other than AUTO will also
disengage the GPS mode.
Setting up your GPS unit
Consult your GPS manual for this
procedure rst. Because there are a
great variety of GPS units that work
with this autopilot, the following is a
guide only.
a) GPS must output NMEA 0183 data
b) Data must include at least one of
the following sentences:
(i) APA
(ii) APB
(iii) BOD and XTE.
• Set up route in GPS
• Set arrival zone
• Select “auto sequence” if more than
one waypoint en route
• For XTE output only from GPS steer
boat to course before engaging
GPS on pilot.
Remember: Prior to engaging GPS
you must program a route into the
GPS for the autopilot to follow