Hi!
which "damping" do you think is better for TWD? and for HDG?
Dampings
Re: Dampings
The damping on Hdg depends on the compass used. A Fibre Optic gyro compass or a dual antenna GPS compass don't need any damping.
A AHRS compass might need some filter, although usually it can be set also internally at the compasss.
For TWD, we recommend to use a dynamic exponential filter and the parameters can change with the boat's dynamics.
KA, the parameter for "almost steady" conditions, can vary from 0.006 to 0.015 (the smaller the value, the higher the damping)
KB, the parameter for "manoeuvring" conditions, can be a small as 0.005 or less (hence, the TWD is not varying much during manoeuvre)
The limits for the AbsYawRate can vary depending on the sea state:
- in flat water, LimitA (under which the boat is considered in steady condition) can be between 2 and 3; LimitB (over which the boat is considered in manoeuvre) can be between 6 and 7.
- in strong waves, we recommend to raise LimitA to 4 or 5 and Limit be up to 9 or 10
A AHRS compass might need some filter, although usually it can be set also internally at the compasss.
For TWD, we recommend to use a dynamic exponential filter and the parameters can change with the boat's dynamics.
KA, the parameter for "almost steady" conditions, can vary from 0.006 to 0.015 (the smaller the value, the higher the damping)
KB, the parameter for "manoeuvring" conditions, can be a small as 0.005 or less (hence, the TWD is not varying much during manoeuvre)
The limits for the AbsYawRate can vary depending on the sea state:
- in flat water, LimitA (under which the boat is considered in steady condition) can be between 2 and 3; LimitB (over which the boat is considered in manoeuvre) can be between 6 and 7.
- in strong waves, we recommend to raise LimitA to 4 or 5 and Limit be up to 9 or 10