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ComNav Admiral P3 Manual

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ComNav Admiral P3 Installation & Operation Basic Operations
Document PN 29010075 V3.1 - 111 -
Correction
If the vessel is not directly on track when in NAV mode, there are three ways it can arrive at
the waypoint:
Setting Description Comments
CTS Course-To-Steer
The autopilot picks out the Course-To-Steer
information from the Navigation System.
This results in a straight-line course to the
destination waypoint. Cross-track error,
while displayed, is not used by the autopilot.
XTE Cross-Track Error
The autopilot steers from its current
heading so as to minimize Cross-Track
Error. No Course-To-Steer information
from the Navigation System is used.
Both Course-To-Steer
plus
Cross-Track Error
The autopilot steers a modified course
taken from the Navigation System’s
Course-To-Steer. The amount of
modification is proportional to the amount of
Cross-Track Error. This method is
generally best for normal usage.
Table 5 – NAV Mode Correction
XTE Sense (Cross-Track Error Sense)
Cross track error (XTE) contains two pieces of information. First, it contains the amount of
the error. Secondly, it gives information about the ‘sense’ of the error (i.e. whether the vessel
is to the left or the right of the line between the beginning and ending waypoints).
The NMEA (National Marine Electronics Association) has specified how the cross track error
should be identified; a (L)eft indicator in the data sentence means the vessel should steer to
the left and a (R)ight indicator meaning the opposite.
However, some manufacturers of GPS, chartplotters, etc. have used the (L)eft indicator to
mean that the vessel is to the left of the line, so the vessel should steer to the right, and the
(R)ight indicator to mean the opposite.
Because of this confusion, the Admiral P3’s handling of XTE can be switched from “Norm”
(normal) to “Rev” (reverse). In “Norm”, the autopilot will respond normally to the sense of the
cross-track error. In “Rev”, the autopilot will respond in the opposite way in response to the
same information.
Max Correction
When activating pre-stored routes with a large amount of initial cross track error, the autopilot
will steer the boat at almost 90° to the track, in order to get back on track as fast as possible.
In certain circumstances, this can appear as though the vessel is moving away from the
desired waypoint. Setting Max Correction to something less than 90° can minimize this
phenomenon.
… 113 …

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