Autopilot Bluetooth

Please buy an ESP32 and a motor driver.
Hook it up and upload the firmware.
Please see my GitHub for further instructions.Settings are as follow:-Heading sourcechoose between compass and GPS.
Not all phones have a compass.
When navigating in waypoint mode, GPS will always be used.- Precisionhow accurate should the app try to steer the boat.
so if set to 2 degrees, the app wont make any correction when the heading is off by 2 degrees or less- minimum motor speedAll motors have a minimum power input when they start to move to overcome interval frictions.
When the control mechanism says the motors needs to run with a speed of 50 , it will perhaps barely move.
So the minium motor speed is what defines it.
You can set it higher to make the ap more aggressive- gyro smoothingThe gyroscope is the main input for the control mechanism.
Gyroscopes arent stable so an average off X gyro readings is taken.
you can set the sample size here.
If D is fluctuating too much, increase this setting.- Pulse modeSo when the motor command is less than the minimum motor speed, we pulse instead.
So if the minimum motor speed is 50 and the command is 25.
Then it will be 50% of the time on and then 50% off.
It also allows the pilot to see the rudder effects in the 50% off time.-pulse intervalthe pulse interval in milliseconds.
so 5000 milliseconds = 5 seconds.
when it runs ay 50% pulse the motor is 2,5 seconds on and 2,5 seconds off.- soft end switchTo prevent a motor from burning or still running when the rudder is at its end it will stop after a certain amount of time.- GPS smoothingAverage of X samples of the GPS.
The GPS accuracy can be very low, especially for headings.
- GPS Gyro fusionThe GPS updates are slow, 1 per second.
If you take the average of 3 seconds.
A course change would only be seen multiple seconds later.
The gyroscope can be used to update the GPS heading faster.