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Software setup | Zeus Glass Helm Installation Manual
Rudder
This parameter determines the ratio between commanded rudder and the heading error. The
higher rudder value the more rudder is applied.
If the value is too small it will take a long time to compensate for a heading error, and the
autopilot will fail to keep a steady course.
If the value is set too high the overshoot will increase and the steering will be unstable.
Counter rudder
Counter rudder is the amount of rudder used to try to prevent the boat from yawing around
the set course. Higher counter rudder settings result in more rudder being applied.
The best way of checking the value of the Counter rudder setting is when making turns.
The  gures illustrate the e ects of various Counter Rudder settings;
123
1 Counter rudder too low; overshoot response
2 Counter rudder too high; sluggish and creeping response
3 Correct setting or counter rudder; ideal response
Auto trim
This parameter de nes how fast the autopilot shall correspond after having registered a
heading error.
The standard value is 40 seconds which should work well on most boats. Rule of thumb: Set
to same value (seconds) as the boat’s length in feet. On boats operating on VRF the value
should be set to 20 seconds.
Rate limit
Sets the maximum allowed rate of turn.
The value should be kept at 6.0°/second unless there is a need for more rapid response in
turns.
Minimum rudder
This parameter  lters small rudder commands to prevent high rudder activity.
Some boats may have a tendency to not respond to small rudder commands around the
course keeping position because of a small rudder, a rudder deadband, whirls/disturbance of
the water-stream passing the rudder or it is a single nozzle water jet boat.
By increasing the Minimum rudder parameter you may improve the course keeping
performance on some boats. This will however increase the rudder activity.
Minimum wind angle to port and starboard
These parameters should be set identical to the minimum apparent wind angle that will keep
the sails from stalling and maintain boat speed. The parameters will vary from boat to boat.
The settings are used for the tack-prevent function. They also apply when the autopilot is
operating in WindNAV mode.
You can select di erent minimum wind angles for port and starboard. The di erence between
port and starboard will be taken into account when calculating the Distance To Turn (DTT).
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