Raven RS1 Calibration And Operation Manual page 34

C 6
HAPTER
• Position Gain - Determines how aggressively the RS1 system responds to an off-track error. A higher Position
Gain value results in a more aggressive response to an off-track error, while a lower value indicates a less
aggressive response.
• Heading Gain - Determines how aggressively the RS1 system responds to a heading error. A higher Heading
Gain value results in a more aggressive response to a heading error, while a lower value indicates a less
aggressive response.
• Yaw Rate Gain - Determines the impact of the yaw rate on tracking performance. A higher Yaw Rate Gain value
results in a more aggressive response to yaw rate, while a lower value results in a less aggressive response.
• Integral Gain - This value corrects long-term errors in the wheel control. If the system is not achieving the
desired wheel angle during operation, the system will re-direct the wheels to the desired set point. This value is
generally at or near zero.
• Terrace Mode - Select the terrace mode checkbox to enable Terrace Mode. This mode temporarily adjusts
some configuration settings to increase performance on terraced fields.
FIGURE 3. Advanced Tuning Page 2
• Max G-Force - Limits the centripetal force experienced by the operator during a turn. A higher value allows to
the machine to perform sharper turns, while a lower value limit's the machine's turning radius.
FIGURE 4. Advanced Wheel Tuning Screen
• Proportional Gain - Determines the rate of the wheel response. Increasing the Proportional Gain value causes
the wheel response to be faster, but can result in the machine overshooting the target wheel angle position or
can cause the wheels to take a longer time to stabilize.
28 Raven RS1™ Calibration and Operation Manual