Installation Instructions

Performing the Autotune Procedure
Before you can begin this procedure, you must have a large
stretch of open water available.
1
Adjust the throttle so the boat travels at a typical cruising
speed that provides responsive steering.
2
Select an option:
• If you are performing this procedure as part of the Sea
Trial Wizard, select Begin, and continue to drive in a
straight line.
• If you are performing this procedure outside of the Sea
Trial Wizard, from the heading screen, select Menu >
Setup > Dealer Autopilot Configuration > Automated
Setup > Autotune > Begin.
The boat performs various zigzag motions while the Autotune
is in progress.
NOTE: During the Autotune procedure, the number of zigzag
cycles remaining counts down on the helm control. You can
stop the procedure at any time, but allowing the procedure to
complete on its own gives the best results .
3
After the procedure is finished, follow the on-screen
instructions.
4
Select an option:
• If the Autotune procedure is not successful, but you have
not reached maximum cruising speed, increase the speed
and repeat steps 1 through 3 until the Autotune
procedure completes successfully.
• If the Autotune procedure is not sucessful, and you have
reached maximum cruising speed, reduce your speed to
the initial Autotune speed and select Alternate Autotune
to begin an alternate procedure.
When the Autotune procedure is complete, gain values are
displayed. You can use these values to determine the quality of
the Autotune procedure.
Autotune Gain Values
After the autotune procedure is complete, you can review the
gain values provided on the helm control. You can record these
numbers for reference if you want to run the autotune procedure
at a later time or if you want to manually adjust the gain settings
(not recommended) (Adjusting the Autopilot Gain Settings).
Gain: Sets how tightly the autopilot holds the heading and how
aggressively it makes turns.
Counter Gain: Sets how aggressively the autopilot adjusts any
over-steering after making a turn.
Setting North
Before you can begin this procedure, you must have a large
stretch of open water available.
NOTE: If you followed the guidelines when mounting the CCU,
this procedure may not be necessary (CCU Mounting and
Connection Considerations).
This procedure appears if the autopilot is connected to an
optional GPS device (Connecting Optional Devices to the
Autopilot System), and the device has acquired a GPS position.
During this procedure, the autopilot uses the GPS heading
information to calibrate north on the autopilot system.
If you do not have a GPS device connected, you are prompted
to set the fine heading adjustment instead (Setting the Fine
Heading Adjustment).
1
Drive your boat at cruising speed in a straight line.
2
Select an option:
• If you are performing this procedure as part of the Sea
Trial Wizard, select Begin, and continue to drive in a
straight line.
• If you are performing this procedure outside of the Sea
Trial Wizard, from the heading screen, select Menu >
Setup > Dealer Autopilot Configuration > Automated
Setup > Set North > Begin.
3
Continue to drive the boat at cruising speed in a straight line
and follow the on-screen instructions.
4
Select an option:
• If the calibration completes successfully, select Done.
• If the calibration is not successful, repeat steps 1 through
3.
Setting the Fine Heading Adjustment
This procedure appears only if you do not have an optional GPS
device connected to the autopilot (Connecting Optional Devices
to the Autopilot System). If the autopilot is connected to a GPS
device that has acquired a GPS position, you are prompted to
set north instead (Setting North).
1
Using a handheld compass, identify north.
2
Select an option:
• If you are performing this procedure as part of the Sea
Trial Wizard, adjust the fine heading setting until it
matches north on the magnetic compass.
• If you are performing this calibration outside of the Sea
Trial Wizard, from the heading screen, select Menu >
Setup > Dealer Autopilot Configuration > Automated
Setup > Fine Heading Adjustment, and adjust the fine
heading setting until it matches north on the magnetic
compass.
3
After the fine heading setting matches north on the magnetic
compass, select Done.
Testing and Adjusting the Configuration
NOTICE
Test the autopilot at a slow speed. After the autopilot has been
tested and adjusted at a slow speed, test it at a higher speed to
simulate normal operating conditions.
1
Drive the boat in one direction with the autopilot engaged
(heading hold).
The boat may oscillate slightly, but it should not oscillate
significantly.
2
Turn the boat in one direction using the autopilot and observe
the behavior.
The boat should turn smoothly, not too quickly or too slowly.
When you turn the boat using the autopilot, the boat should
approach and settle on the desired heading with minimal
overshoot and oscillation.
3
Select an option:
• If the boat turns too quickly or too sluggishly, adjust the
autopilot acceleration limiter (Adjusting the Acceleration
Limiter Settings).
• If the heading hold oscillates significantly or the boat does
not correct when turning, adjust the autopilot gain
(Adjusting the Autopilot Gain Settings).
• If the boat turns smoothly, the heading hold oscillates only
slightly or not at all, and the boat adjusts the heading
correctly, the configuration is correct, and no further
adjustments are necessary.
Adjusting the Acceleration Limiter Settings
1
Enable Dealer Mode (Enabling Dealer Configuration).
2
Select Menu > Setup > Dealer Autopilot Configuration >
Autopilot Tuning > Acceleration Limiter.
3
Select an option:
• Increase the setting if the autopilot turns too quickly.
• Decrease the setting if the autopilot turns too slowly.
When you manually adjust the acceleration limiter, make
relatively small adjustments. Test the change before making
additional adjustments.
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