# Using Auto Mode

## Engaging the autopilot (Auto mode) 

1. Steady the boat on the required heading.
2. Place the pushrod over the tiller pin. If necessary, extend or retract the pushrod using [Rudder Control](https://spascual90.gitbook.io/fenix-autopilot/user-functions#rudder-control). 
3. [Switch working mode from STAND BY to AUTO](https://spascual90.gitbook.io/fenix-autopilot/user-functions#switch-working-mode-from-stand-by-to-auto): the tiller pilot will enter Auto mode. 

## Disengaging the autopilot (Standby mode) 

To return to hand steering:

1. [Switch working mode from AUTO to STAND BY](https://spascual90.gitbook.io/fenix-autopilot/user-functions#switch-working-mode-from-stand-by-to-auto):  
2. Remove the pushrod from the tiller pin to return to hand steering.
3. The last heading is memorized and can be recalled ([Returning to previous Heading](#returning-to-the-previous-heading))

## Changing course

In Auto mode, 

use [Control Course to Steer](https://spascual90.gitbook.io/fenix-autopilot/user-functions#control-course-to-steer) to change course in steps of +/-1° or +/-10°.

For example: press -10 three times for a 30° course change to port:

## Automatic tack feature (AutoTack)

This function will perform a turn of 100º to either starboard or portboard.

In Auto mode,

1. Select tack side: starboard or porboard. Next CTS will display target course.
2. Once you are prepared to start the turn, press SET CTS.

## Dodging obstacles

To avoid an obstacle when your boat is under autopilot control, 

1. select a course change in the appropriate direction. 

> For example, 

<div align="center"><img src="https://2519293684-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1IFMsiQH0N5uEseRXb%2F-MBPFFsqqpCFX0uCjA1K%2F-MBPnck8NoFRq8nHyPbJ%2Fdodging-1.png?alt=media&#x26;token=8800ad5b-103e-4618-ad7a-09b4b8e2f57e" alt="In Virtuino App, press +10 button to increase CTS by 10º "></div>

When safely clear of the obstacle, you can either:

* [x] reverse the previous course change (for example, by pressing -10 button to decreate CTS by 10º), or
* [x] return to the previous heading (see below)

### Returning to the previous heading

1. Use [Return to initial CTS](https://spascual90.gitbook.io/fenix-autopilot/user-functions#return-to-initial-cts)
2. CTS will change to initial value when Auto mode was selected.

![](https://2519293684-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1IFMsiQH0N5uEseRXb%2F-MBPFFsqqpCFX0uCjA1K%2F-MBPoeshmDNe8edWTQAW%2Freturn%20prev%20CTS.png?alt=media\&token=0cc75e82-5950-4a8e-8c59-b8b4cf68f5c5)

## Off course alarm

The off course alarm sounds if the locked autopilot heading and the boat’s current heading differ by more than the value set in calibration  parameter `Off course alarm angle` (see [Get Installation Parameters](https://spascual90.gitbook.io/fenix-autopilot/user-functions#get-installation-parameters)) for more than xx seconds. A Warning will be displayed in the Virtuino App.

![](https://2519293684-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-M1IFMsiQH0N5uEseRXb%2F-MBPFFsqqpCFX0uCjA1K%2F-MBPpYF8LJZL1Swxhcy7%2Fout_course.png?alt=media\&token=9afc5acd-29a8-4a1a-9093-d23b1537920e)

### Cancelling the off course alarm

To cancel the off course alarm,&#x20;

1. [Switch working mode from AUTO to STAND BY](https://spascual90.gitbook.io/fenix-autopilot/user-functions#switch-working-mode-from-stand-by-to-auto).&#x20;

{% hint style="info" %}
Note: If the off course alarm sounds, this is usually an indication that the boat is carrying too much sail, or that the sails are badly balanced. In these conditions, you can usually obtain significant improvements in course keeping by improving the sail balance
{% endhint %}

## Automatic deadband control

When the tiller pilot is set to Auto Deadband, the pilot will gradually ignore repetitive movements of the boat and respond only to true course variations.&#x20;

By preventing unnecessary rudder movement, Auto Deadband provides the best compromise between power consumption and course keeping accuracy.&#x20;

If you want to change the configuration of Deadband feature:&#x20;

1. In Stand by, Auto or Track mode, in Virtuino App go to Configuration Pannel.
2. Pressing Deadband selection button, the configuration will go through 3 different configurations:

* [x] Fixed Minimum Deadband (`m`): Minimum deadband provides the tightest course keeping possible, at the expense of increased power consumption and drive unit activity. Hardcoded to 2.5 deg.
* [x] Fixed Maximum Deadband (`M`): Maximum deadband provides the loosest course keeping, maximizing power saving and minimizing drive unit activity. Hardcoded to 5.0 deg.
* [x] Automatic Deadband (A): Autopilot will adjust deadband to the sea state to balance course accurancy and minimum drive unit activity.

Current Deadband value can be monitored in Virtuino App, Configuration Pannel. Blue led is on when heading is within current deadband.

![Configuration panel - Deadband selection button](https://2519293684-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-M1IFMsiQH0N5uEseRXb%2Fuploads%2FdVqsenXUo2KTEyUTgf6o%2FScreenshot_20251228-192200.png?alt=media\&token=5ae679c0-8455-4bca-9192-7b3aaa9429c3)