I finally managed to travel to the sea and take the first tests.
The system has passed a mechanical test and manual navigation.
The 3D printed fin with two T200 engines withstood the maximum thrust and the ride for 3 hours.
With the manual control of the joystick, I manage to keep approx. ± 10 degrees from the desired direction of travel. I have to count the turning circle at somewhere 50m. The conditions were calm morning sea and little wind.
I have already gained a lot from this. In three hours of sailing, it was not even once necessary to correct the direction with a paddle. This, in turn, allows trolling fishing with two rods (one before).
the following steps are:
- replacement of WiFi communication PX4 / smartphone with bluetooth, thus releasing the cellular signal for downloading maps
- fix compass problems because I keep getting an EKF warning
- for the needs of PID settings and other settings, I have to take a larger tablet on the SUP, because it is impossible to use the Mission Control program on a small screen in strong sunlight. If I can manually operate an SUP with a + -10 degree deviation from direction, Pixhawk should do it better.
I would be very grateful for any hint on how to tackle PID settings with such a vessel.