B&G H2000 Pilot *DISCONTINUED* - Manual (Page 77)

h2000 Autopilot User Manual
Part 3 - Commissioning and Calibration
HB-0842-04
3-23
3.4.14 Boat Lag Value
Boat Lag is the time taken for the boat to respond to changes in
helm. For example, heavy displacement hulls require a larger
value for boat lag.
3.4.15 Checking the Boat Lag
(1) Engage the autopilot as previously explained in
Initial Autopilot Sea Trial.
(2) At a speed not exceeding 15 knots, change
course by 90
o
in each direction.
(3) Observe the autopilot steering performance. The
boat should turn onto the new heading with minimal
overshoot (a slight overshoot is acceptable).
(4) If the overshoot is consistently more than 5
o
for
course changes in both directions increase the Boat Lag
value in steps of 0.1 until the overshoot is corrected.
(5) It is easier to spot overshoot than undershoot,
hence if no overshoot is observed decrease the boat lag
in steps of 0.1 until a small overshoot is seen. Use the
smallest value of Boat Lag to stop overshoot.
Boat Lag Value Correct Boat Lag Value
Incorrect (too small)
Fig 3.2 Boat Lag Response