User functions
Last updated
Last updated
This function allows user to change Autopilot working mode from Stand-by to Auto or to disactivate Autopilot from any working mode:
Executed in Stand-by mode, Autopilot will switch to Auto mode.
Executed in Auto or Track mode, Autopilot will switch to Stand-by mode.
In Virtuino App,
In Stand-by mode, press the Start/ Stop button at Main Page. Autopilot will enter into Auto mode.
Autopilot will fix the course to steer (CTS) to current heading (HDG) value and Status Led will turn on.
Autopilot will start moving the linear actuator to keep the boat course to CTS value.
In Auto mode, press Start/ Stop button again to switch back to Stand-by mode. Autopilot will stop moving linear actuator.
Serial I/F $PEMC Code: 00Serial I/F Sentence: $PEMC,00*37
This set of functions allows user to change rudder angle.
Rudder control functions are only available in Stand by mode.
Behaviour will be different depenting on the value of installation parameterInstallation Side , startboard (S) or portboard (P).
In Fenix V2.0, the value of installation parameterInstallation Side is always startboard (S)
Serial I/F $PEMC Code: 01Serial I/F Sentence example: $PEMC,01,r*68
Perform a SHORT EXTENSION of the linear actuator to increase current rudder angle.
In Virtuino App,
In Stand by mode, press +1 button at Main page
Serial I/F Example: $PEMC,01,i*xx
Perform a LONG EXTENSION of the linear actuator to increase current rudder angle.
In Virtuino App,
In Stand by mode, press +10 button at Main page
Serial I/F Example: $PEMC,01,I*xx
Perform a SHORT RETRACTION of the linear actuator to decrease current rudder angle.
In Virtuino App,
In Stand by mode, press -1 button at Main page
Serial I/F Example: $PEMC,01,r*xx
Perform a LONG RETRACTION of the linear actuator to increase current rudder angle.
In Virtuino App,
In Stand by mode, press -10 button at Main page
Serial I/F Example: $PEMC,01,R*xx
This set of functions allows user to change Target CTS angle.
Serial I/F $PEMC Code: 02Serial I/F Sentence example: $PEMC,02,i*70
This function allows user to select a 100º turn to starboard, which is the standard value for tacking. This turn requires a second user confirmation to avoid big turns are performed by mistake.
In Virtuino App,
In Auto mode,
press Tack-Starboard button at CTS page. Next CTS value will be updated, pending user confirmation.
To start the turn, activate Next CTS pressing SET CTS button.
This function allows user to turn 100º to portboard, which is the standard value for tacking.
In Virtuino App,
In Auto mode, press Tack-Portboard button at CTS page.
Next CTS value will be updated, pending user confirmation.
To start the turn, activate Next CTS pressing SET CTS button.
This function allows user to Increment CTS value in 10º
In Virtuino App at Main panel,
In Auto mode,
press +10 button. CTS will be increased by 10.
Serial I/F Example: $PEMC,02,I*xx
This function allows user to Increment CTS value in 1º
In Virtuino App, follow steps described previously
Serial I/F Example: $PEMC,02,i*xx
This function allows user to Reduce CTS value in 1º
In Virtuino App,In Virtuino App, follow steps described previously
Serial I/F Example: $PEMC,02,r*xx
This function allows user to Reduce CTS value in 10º
In Virtuino App, In Virtuino App, follow steps described previously
Serial I/F Example: $PEMC,02,R*xx
This function allows user to set Next CTS to a defined value.
In Virtuino App,
In Auto Mode at CTS panel,
turn center wheel to point desired Target CTS
When center wheel is released, Next CTS will be fixed, pending user confirmation.
To activate Next CTS press SET CTS button.
This function allows user to change CTS value to Next CTS.
In Virtuino App,
at Main panel, in Auto mode
press SET button. CTS value will be set to NEXT CTS value.
Alternative, at CTS panel in Auto mode,
Press SET CTS button and CTS value will be set to NEXT CTS value
In Virtuino App,
When Track is available, TRACK AVAILABLE message is displayed,
Press TRACK AVAILABLE button at Main page.
Autopilot will enter into Track mode.
Autopilot operational status is defined by the following set of parameters,
Current Mode: Stand-by (S); Auto (A); Track (T)
Current Rudder Position
Heading Magnetic (HDM)
Course To Steer (CTS) (Magnetic)
Deadband value
This function allows user to relinquish Autopilot current operational status.
Serial I/F $PEMC Code: 08
Serial I/F Sentence: $PEMC,08,A*52
Virtuino App V1.0 provides the following information at Main page,
Current Mode:
Green light off: Stand-by (S)
Green light on: Auto (A) or Track (T)
Rudder Position
HDG: Heading Magnetic (HDM)
Course To Steer (CTS) (Magnetic)
Next Course To Steer (CTS) (Magnetic)
Track Mode status
Information, Warning and Error messages
Virtuino App provides minimum funtionalities to manage autopilot configurations for Fenix App v2.0.
Calibration of IMU and linear actuator must be completed before first use.
Autopilot provides initial default settings, however Installation and Gain Parameters might require customization to specific boat and installation conditions.
Installation Parameters are,
Centered Tiller Position
Maximum rudder angle
Average Cruise Speed (Not used)
Installation Side: Starboard (S) or Portboard (P)
Rudder Damping
Magnetic Variation
Heading Alignment
Off course alarm angle
This function allows user to adjust Autopilot compass HDG value to current boat heading.
In Virtuino App,
In Stand by mode,
Take a reference of current boat Heading with an external compass.
In CTS panel,
Set NEXT CTS to referenced boat Heading value.
press SET HDG button.
Autopilot will setHeading Alignment to NEXT CTS value.
Virtuino App will not save this value. Save Installation Parameters to retain the Heading Alignment value.
This function allows user to relinquish Autopilot current installation parameters.
Serial I/F $PEMC Code: 08
Serial I/F Sentence: $PEMC,08,I*5A
Virtuino App V1.0 provides the following information at Gain page,
Deadband
This function allows user to upload a new set of Installation Parameters.
Serial I/F $PEMC Code: 04
Serial I/F Example: $PEMC,04,2,40,4,S,3,4.1,33.9,9*xx
Remember to save values for later use
Fenix V2.0 limitations:
Installation Side cannot be changed. Always set to Starboard (S).
Average Cruise Speed is not used.
This function allows user to save current Installation Parameters and Linear actuator off-sets in the non-volatile memory for later use.
Once values are saved, will be reused immediately after Power-on Autopilot.
Serial I/F $PEMC Code: 11
Serial I/F Sentence: $PEMC,11,I*52
Gain Parameters are,
Kp
Ki
Kd
Sample Time
Deadband type: Auto (A) , min (m), max (M)
This function allows user to relinquish Autopilot current Autopilot Gain Parameters.
Serial I/F $PEMC Code: 08
Serial I/F Sentence: $PEMC,08,G*54
Virtuino App V1.0 provides the following information at Gain page,
Current weight of P, I, D factors in the overal PID output.
Current Gain parameters: KP, KI, KD PID
Target rudder (PID error)
Deadband led: On if current Heading within deadband.
Deadband value
Trim value
Rudder Center deviation
This function allows user to upload new set of Autopilot Gain Parameters.
Serial I/F $PEMC Code: 06
Serial I/F Example: $PEMC,06,3,0.11,0.7,1000,m*xx
Remember to save values for later use
This function allows user to save current Gain Parameters in the non-volatile memory for later use.
Once values are saved, will be reused immediately after Power-on Autopilot.
Serial I/F $PEMC Code: 11
Serial I/F Sentence: $PEMC,11,G*5C
These functions are only available in Stand-by mode
This function allows user to calibrate the internal compass (IMU).
In Virtuino App, Stand-by mode,
Access to Compass Calibration through Configuration panel,
Press Start Button to launch the calibration process,
Along calibration, the status of the different sensors will be displayed. Status 3 will represent a sensor fully calibrated.
Follow the calibration procedure described in the screen until all sensors are fully calibrated (All green).
You will have additional time to check X, Y, Z axes and bearing values. Once the time has expired, Save and Exit Buttons will be enabled again.
Press Save Button.
Once the compass is calibrated and values saved, the calibration profile will be reused to get the correct orientation data inmediately after Power-on Autopilot.
If you are satified with the result of the calibration process, press Save Button to be used by the autopilot every time it is powered on.
Serial I/F $PEMC Code:
09 (Start IMU Calibration Mode)
Serial I/F Sentence: $PEMC,09*3E
11 (Save IMU Calibration Values)
Serial I/F Sentence: $PEMC,11,I*52
This function allows user to enter/ exit linear actuator calibration mode.
In Virtuino App, Stand-by mode,
From Configuation Panel enter into Linear Actuator Calibration Panel,
Press Start Button to launch the calibration process,
Press Extend Button to extend the linear actuator as many times as required until the extension is complete.
Press Retract Button to retract the linear actuator as many times as required until the retraction is complete.
Press the Save Button to save linear actuator off-sets for later use
Serial I/F $PEMC Code: 10
Serial I/F Sentence: $PEMC,10*36
