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82 | Alarm system
The values in the table are factory set (default) and listed
for information only. After having performed the
Autotune, the values may differ from those listed in the
table. See also “Autotune” previously in this chapter.
The two most important parameters that determine the
performance of the automatic steering are Rudder and
Counter Rudder.
Rudder
sets the rudder gain which is the ratio between
the commanded angle and the heading error.
Too little Rudder and the autopilot fails to keep a
steady course
Too much Rudder gives unstable steering and reduces
speed
Low speed requires more rudder than high speed
See also “Minimum Rudder” on page 83.
Counter Ru
dder
is the parameter that counteracts the
effect of the boat’s turn rate and inertia. For a short time
period it is superimposed on the proportional rudder
response caused by the heading error. It may sometimes
appear as if it tends to make the rudder move to the
wrong side (counter rudder).
The best way of checking the value of the Counter
Rudder setting is when making turns. The figures
illustrate the effects of various Counter Rudder settings.
Too little Rudder
Too much rudder
Course to steer
Course to steer
84


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