I have an ST4000 AP on my Catalina 30. Under sail with the AP steering my course is somewhat zig-zag due to the constant course correction caused by wave/swell action. Is there a way to get the AP to "relax" a little to allow for wave/swell action?
I recently installed one on my Beneteau 321 and went out to sea to calibrate the instruction manual has a full description on how to do it the problem same as yours was immediately corrected with some tweeking.
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