Ok I spent some time yesterday connecting it up and tested rudder position. Unfortunately I chose less than ideal conditions for testing. Tail end of a mistral and a 3 metre swell. None the less it tends to overshoot to the point of basically full rudder to full rudder. Sounds like tuning is required. The thing that worries me is the predictive tiler action for a swell. I need a fast motor and an algorithm based on pitch. There is nothing like a rogue wave on the stern to test tiller action.
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