TMQ AP4 Autopilot (AP4S10) 52 of 62 Version 4.96 9/10/2017
923 The maximum course error value (default: 10 degrees) used for
calculating the rudder position. It is the proportional part of the PID
control used only when in RFU control mode.
924 Mode Rudder Install – Explained in “To Set Rudder Limits
Automatically (Installation Mode)” section, page 45.
925 The integral gain for the XTE correction (rudder offset)
926 The derivative gain for the XTE correction (speed control)
927 Empowered gain – if the rudder ratio is already set to it maximum
value and still needs more response, it can be set to in order to
multiply the value by 2. Usually not used.
928 Decrease the integration (offset) of the XTE error, near to the
correct heading (default: 1)
Operating Without RFU
If chosen “0” on special mode 922, the autopilot will operate the auto mode
without reading the RFU, apart for the rudder limits if it is connected.
In this mode, the program does not use the PID concept, and uses pulses of
current in order to turn the motor. The length of these pulses is proportional to
the value adjusted via special mode 910. When the vessel is heading near to the
desired direction, the pulses are shorter.
The more responsive the vessel is to the rudder movement, the setting should be
lower. Usually, for larger boats with high rudder inertia, it will require a longer
pulse.
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