The lower portion of the tuning screen has text fields to edit for the user to tune the system. To get the current configurations, press the READ button. This button is blue when active and green when selected. Once a field has been modified, the WRITE button will set the new configurations and the result can be visualized in the graphic display.
| Tuning Field Name | Description |
| Proportional |
Proportional gain ('P'): The proportional gain weights the proportional amount of error between the signal and the feedback, and maps it directly to the effort. The more error you have the more effort will be output. |
| Output Gain |
Final scaler the controller output is multiplied by. |
| Integral |
Integral Gain ('I'): The integral gain weights the sum of error over time. This is important because a proportional error weighted at 5% or less may not seem like much, but it keeps growing over time. Letting the integral gain build up to a high number means you'll end up carrying around a large bias that could weigh the vehicle down. |
| Output Bias |
Scaler value added to controller output. |
| Derivative |
Derivative Gain ('D'): The derivative gain weights the rate of error change over time. |
| Jog Gain |
Rate of change of set point during a control input jog. Example: The joystick adjusts the heading setpoint when auto-heading is active by this amount multiplied by the total % deflection. |
| Lower Integral Saturation Limit |
Click Enable to set the High and Low Limits. Limit on the error integral to prevent wind up. |
| Controller Input Limit |
Click Enable to set the High and Low Limits. Max limits of feedback value |
| Controller Output Limit |
Click Enable to set the High and Low Limits. Max value a controller can output. |
