Target-line distance (surge)
Target-line distance and heading stabilization
Heading stabilization is essential for compensating Target-line distance.
In the configuration utility it the Target-line distance controller can be set to work only once the vehicle heading is successfully aligned.
Make sure to configure the Cross-track distance controller in the same way if using this option.
PID Controller
The controller will output a signal towards 2000 μs when performing a forwards surge motion and towards 1000 μs when going backwards.
The Target-Line Distance controller should be paired with the propulsion's surge controls.
It regulates the distance between the vehicle and the line perpendicular to its heading near the target. This ensures that the surge controls can operate independently of the sway controls. Once the correct position is reached, the controller will output a 1500 μs signal.
It will reset the DP target coordinated to the current position of the vehicle each time the input signal is outside the deadzone so 1500 μs +- deazone μs.
It will also reset to a new position if the other active XTD controller goes outside its specified deadzone.
The controller is active only when the "Auto throttle/surge switch" signal is higher than 1800 μs else the controller will just return the unmodified input signal.
The output signal of the controller is available in the signal list:
