The compass I am using gives very accurate data (upp to 60 degress of heel) with resolution 0.1 degrees at 5 Hz with very low noise, so it is possible to use the derivative to get the yaw-rate information. The first prototype is far better than the Raymarine, but there are still more to do on the control performance. I have made my own power drive hardware and control software that runs on a microcontroller that gets all its information (wind data, pitch, roll, heel/pitch compensated compass 5Hz, 5Hz GPS, and target polar data from tactical computer + more) from the instrument network (Nexus NX2 FDX) on my boat. ![]() I have developed my own autopilot from scratch (except the linear DC-motor) after bying a brand new Raymarine Autohelm 2000+ that had very poor performance. ![]() ![]() This is my first post in this forum, and it is really fun to find such great info about autopilot development.
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