Programming Manual 74
$JATT,PTAU,ptau<CR><LF>
Where ‘ptau’ is the new time constant that falls within the range of 0.0 to
3600.0 seconds.
Depending on the expected dynamics of the vessel, you may wish to adjust
this parameter. For instance, if the vessel is very large and is not able to
pitch quickly, increasing this time is reasonable. The resulting pitch would
have reduced ‘noise’, resulting in consistent values with time. However,
artificially increasing this value such that it does not agree with a more
dynamic vessel could create a lag in the pitch measurement. A convenient
formula for determining what the level of smoothing follows. If you are
unsure on how to set this value, it’s best to be conservative and leave it at
the default setting.
ptau (in seconds) = 10 / maximum rate of pitch (in °/s)
You may query the Vector for the current pitch time constant by issuing the
same command without an argument.
$JATT,PTAU<CR><LF>
Note - If you are unsure of the best value for this setting, it’s best
to be conservative and leave it at the default setting of 0.5 seconds.
8.11 $JATT,HRTAU
The heading rate time constant allows you to adjust the level of
responsiveness of the rate of heading change measurement provided in the
$HEROT message. The default value of this constant is 2.0 seconds of
smoothing. Increasing the time constant will increase the level of heading
smoothing.
The following command is used to adjust the heading time constant.
$JATT,HRTAU,hrtau<CR><LF>
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