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Dynamic Positioning

So you want to keep your ship in one place, great, you don't want to use 8 azimuth thrusters, jet engines and nuclear warheads to do that though - which is not so great because most Dynamic Positioning microcontrollers will require you to - that's fine though because this microcontroller will utilise thrusters 90% of ships will have installed and do it very well.

Ships that have it:
Far Fosna: https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2413146588
ALP Keeper: https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2398050934
ALP Defender: https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2397951606
MPSV Hercules: https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2435428433

Requirements:
- 1 Bow tunnel thruster driven by electric motor
- 1 Stern tunnel thruster driven by electric motor
- 1 or more main thrusters (azipods preferred) driven by electric motors (You can clutch in an electric motor only for DP to avoid losses when not in DP)

Features!!!!!:
-Azipod authority limiter, keeps your azipods from giving too much turning authority at high throttle settings while allowing for 180 degree rotation below 0.1 throttle settings.
-Tunnel thruster controller
-GPS position holding with 1m circular error probable (3m in 100% wind if your ship has enough thruster power to fight the weather)
-Position adjusting while in DP, relative to the closest cardinal direction the vessel is pointing to(using arrows)
-DP Heading Hold
-DP Weather-vaning - The ship will turn itself to face the wind to reduce the effects of the wind on the ship.
-DP HIGH mode - For when you need to be PLANTED on the spot. It increases the hardness with which the DP program attempts to keep it on the spot, doesn't increase the maximum thrust.
-DP Wind Feed-Forward - The system reacts to the strength of the wind to react to the weather changes before the ship is blown off position.
-Seven colour schemes (Monochrome Orange, Monochrome Green, Sea Green, Inverted, Ancient Sky, Dry Blood, Nasty Crimson)
-Built-in sensor test.
-Self-Calibrating program.

--SETUP NOTES--
1. If you're using diesel engines for propulsion and don't want to suffer losses associated with diesel-electric transmission
a) Use a clutch to disengage the engines and another clutch to engage the electric motor to the main shafts which will operate as you turn the DP on and off
b) Still connect the throttle lever to the microcontroller, throttle position is one of the variables that are determining the azimuth authority limiting
c) Still connect the steering controls as they're used for position adjustments when in DP

2. If you're not using azipods
a) Connect the rudder rotation normally without the microcontroller

3. If you are experiencing DP induced rolling or oscillations with the recommended DP values
a) Decrease the dynamic resistance value, keeping it high allows the ship to sense being blown off position but having it too high will induce oscillations due to propulsion inertia.
b) If that is not enough decrease the overall DP strength.

--TUNING--

a) Self-Calibrating
1. Enter Calibrating Mode in the microcontroller properties.
2. Sail out to sea to be free of obstructions in every direction, stop and enable DP.
3. Run the sensor BIT tests and after SENSORS OK message run the calibrating programs.
4. Remember the values in the BIT COMPLETE screen, use them for tunnel and main thruster power in DP, if the stationkeeping is not satisfactory regulate the overall DP strength.

b) Manual
1. Regulate bow and stern manual tunnel thrusters power so that the ship can travel sideways without turning or toppling when using left/right arrows when not in DP.
2. Regulate bow and stern DP tunnel thrusters power so that the ship can turn around and face the wind with the WIND mode activated but the excess power doesn't cause it to oscillate around a setpoint.
3. Regulate the main thrusters power so that the ship can fight the weather when facing the wind with the WIND mode activated but the excess power doesn't cause it to oscillate around a setpoint. (20% is fine for electric motors as main propulsion, higher numbers might be necessary for weaker, clutch-in on demand motors)
4. Regulate overall DP strength for optimal hardness.



**DISCLAIMER**
The microcontroller is scrambled, the reason for that is a person I know stealing my microcontroller designs. I left the LUA blocks out of the scrambled mess because they are only used to draw data on the screen and I don't want anyone to think I'm hiding malicious code in them.