Garmin Tr 1 Autopilot Manual

							
31
Navigation Function Codes 
            Setup Action  Code #         Range of settings or Responses  Default 
Navigation Gain 15  1 lowest gain, 73 highest gain  42 
Navigation Trim Gain 16  1 lowest gain, 73 highest gain  49 
Use Synthetic XTE  37  2 settings on, off  off 
Change Sign of XTE 18  2 settings  on, off  off 
Use Magnetic North 39  2 settings on, off  on 
Set North 48  Hold Down Select Load Button, press and 
release Deckmount Button to set north  
See Notes code #48 
Enable Checksums 347  2 settings on, off  on 
Notes:
Code 1. 
Seastate adjustments toward least responsive slow the heading response down.  Most of the time 
you will want to run with this parameter all the way at the top of its range. 
Codes 15 & 16. 
The best way to tune GPS tracking is to start with the trim gain at its minimum and set the 
coupling gain as high as it can be set without causing oscillations around the course line capture. 
Code 18. 
Changes the direction to steer to courseline.  Some GPS’ steer the wrong way, turn this 
parameter on to fix the GPS problem. 
Code28.
The man overboard maneuver can be tuned to run over the target at any given speed, but may 
miss by a distance at another speed.  If you choose to use this function, tune it with these two 
tuning codes.  If the man passes on your starboard reduce code 28. 
Fine Tuning Codes 
Seastate Filtering      1  1 least responsive steering, 5most 
responsive steering. 
    5 
Rudder Gain       2  1 Lowest gain, 60 highest gain     22 
Counter Rudder Gain        3  1 lowest gain, 60 highest gain     37 
Speed Schedule      35  4 settings 1 aggressive, 2 moderate, 3 mild, 
4 weak 
    4 

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Code 1 Sea State Filter.
If the Autopilot seems to be too active in rough water (the kicker motor is overactive) but works perfect in 
calm water, adjusting the Sea State Filter may help.  Factory default sets this code at the top of its range (4) 
which is most active (least active is 1) . Most of the time you will want to run with this parameter at the the 
top of its range.  To decrease the autopilots sensitivity in rough water  1) Press and release [SETUP}on the 
handheld, the setup LED will be lit.  2) Press the [IDLE/RES] button and light up the number 1 LED .
 3) Press the down arrow button to decrease the autopilots sensitivity. Note:  When the autopilot is shut 
off, the autopilot will return to its factory default setting unless the setting is saved See page 28, Step 5.
31
Navigation Function Codes 
            Setup Action  Code #         Range of settings or Responses  Default 
Navigation Gain  15  1 lowest gain, 73 highest gain  42 
Navigation Trim Gain 16  1 lowest gain, 73 highest gain  49 
Use Synthetic XTE  37  2 settings on, off  off 
Change Sign of XTE 18  2 settings  on, off  off 
Use Magnetic North 39  2 settings on, off  on 
Set North 48  Hold Down Select Load Button, press and 
release Deckmount Button to set north  
See Notes code #48 
Enable Checksums 347  2 settings on, off  on 
Notes:
Code 1. 
Seastate adjustments toward least responsive slow the heading response down.  Most of the time 
you will want to run with this parameter all the way at the top of its range. 
Codes 15 & 16. 
The best way to tune GPS tracking is to start with the trim gain at its minimum and set the 
coupling gain as high as it can be set without causing oscillations around the course line capture. 
Code 18. 
Changes the direction to steer to courseline.  Some GPS’ steer the wrong way, turn this 
parameter on to fix the GPS problem. 
Code28.
The man overboard maneuver can be tuned to run over the target at any given speed, but may 
miss by a distance at another speed.  If you choose to use this function, tune it with these two 
tuning codes.  If the man passes on your starboard reduce code 28. 
Fine Tuning Codes 
Seastate Filtering      1  1 least responsive steering, 5most 
responsive steering. 
    5 
Rudder Gain       2  1 Lowest gain, 60 highest gain     22 
Counter Rudder Gain        3  1 lowest gain, 60 highest gain     37 
Speed Schedule      35  4 settings 1 aggressive, 2 moderate, 3 mild, 
4 weak 
    4 
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Navigation Function Codes 
            Setup Action  Code #         Range of settings or Responses  Default 
Navigation Gain  15  1 lowest gain, 73 highest gain  42 
Navigation Trim Gain 16  1 lowest gain, 73 highest gain  49 
Use Synthetic XTE  37  2 settings on, off  off 
Change Sign of XTE 18  2 settings  on, off  off 
Use Magnetic North 39  2 settings on, off  on 
Set North 48  Hold Down Select Load Button, press and 
release Deckmount Button to set north  
See Notes code #48 
Enable Checksums 347  2 settings on, off  on 
Notes:
Code 1. 
Seastate adjustments toward least responsive slow the heading response down.  Most of the time 
you will want to run with this parameter all the way at the top of its range. 
Codes 15 & 16. 
The best way to tune GPS tracking is to start with the trim gain at its minimum and set the 
coupling gain as high as it can be set without causing oscillations around the course line capture. 
Code 18. 
Changes the direction to steer to courseline.  Some GPS’ steer the wrong way, turn this 
parameter on to fix the GPS problem. 
Code28.
The man overboard maneuver can be tuned to run over the target at any given speed, but may 
miss by a distance at another speed.  If you choose to use this function, tune it with these two 
tuning codes.  If the man passes on your starboard reduce code 28. 
Fine Tuning Codes 
Seastate Filtering      1  1 least responsive steering, 5most 
responsive steering. 
    5 
Rudder Gain       2  1 Lowest gain, 60 highest gain     22 
Counter Rudder Gain        3  1 lowest gain, 60 highest gain     37 
Speed Schedule      35  4 settings 1 aggressive, 2 moderate, 3 mild, 
4 weak 
    4  
						

							
Code 35. 
Since the boat dynamics change with RPM the autopilot retunes itself as it sees the RPM change. 
Most boats will work well with the mild setting.  The easiest way to set the speed schedule is to 
first get tuned up and working well at low speed, then run at high speed.  1) If steering response 
is sluggish, increase code 35.  2) If the steering response is oscillatory, decrease code 35. 
Code 37. 
Turning this parameter on may provide tighter course line tracking when you are within one mile
range of a destination waypoint. 
Code 39. 
If you set your GPS to use true headings, turn this parameter off. 
Code 48 
To run a GPS course requires that the autopilot compass is in agreement with the GPS’s course 
estimate.  You need to set North with the pilot in standby mode.  Do not set North except in calm
sea’s and un-accelerated conditions.  You should be running at a reasonably high speed, it won’t 
hurt to be running on plane with your main engine.  With your GPS turned on and setup code 48 
selected,pressandhold the GPS(Select Load) button.
If the Up Arrow LED illuminates, this means that your GPS connection is not sending course 
information to the autopilot correctly.  You must point your boat north and then press and release 
theDeckmount switch to set compass north. 
If the Up Arrow LED does not illuminate, press and release the Deckmountswitch to set 
compass north.  In this case you do not need to be pointing north-you only need to be going in a 
straight line. 
Your pilot will power down after north has been set. 
Code 259. 
If you find that you have connected the hydraulics backwards, use this code to electronically 
“swap” the hoses. 
Code 347. 
If RMB and or RMC messages from the GPS aren’t received by the pilot, it may be due to a 
message formatting error.  If you turn this setting off, the pilot may still be able to use the data.
The integrity of the data used by the pilot in this condition is compromised. 
Code 349. 
The autopilot will automatically down mode to standby after a period of time of sensing no 
RPM.From the kicker (This is done to avoid a melt down of the pump motor in the case the unit 
was inadvertently left on when the boat was parked.)  To stop it from down moding turn this 
code off.  This parameter cannot be set to off in permanent memory, therefore, must be used on a 
as need basis. 
Code 369.  If you hold down the GPS (select Load) button with this code lit, the software version 
number will blink out on the up and down arrow LED’s 
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32 
						

							
33
     
Your autopilot needs to be “tuned” to your boat and motor configuration.  This is the most difficult part of 
getting your pilot running the best it can.  Have patience and don’t even try to do this until you have some time 
on a nice calm day.  Follow the directions below.
1.    Calibrate your compass.  The autopilot compass is made with a fluxgate.  Like all compass installations, 
fluxgate installations are susceptible to local magnetic disturbances that will cause erroneous heading outputs.  
The autopilot computer can detect and correct deviations caused by magne\
ts and iron materials around the 
fluxgate-if the earths’ magnetic field near the compass isn’t too distorted. You should only calibrate the compass 
on calm water. Stay away from large steel structures.  Calibration will \
not work right if you try to do calibration 
with your boat on the trailer because the trailer is made with iron. Com\
pass calibration is not absolutely 
required, but GPS functions will work best with the compass calibrated (North needs to be set also for GPS 
functions.)  Find some smooth water where you can drive in circles with\
out running into anything.                          
With the pilot in Standby mode;
  •Pess and release the [
Setup] button then enter code 47. (Press and light up 4 LED and 7 LED)  
 
 •Press and 
hold the [Select Load] (GPS) button.  While holding the Select Load button down,  press and   
  release the
 Deckmount Switch, then release Select Load.  The Up Arrow LED will turn on.  
 
 •Now drive in a straight line and watch for the Up Arrow LED to start blinking.  When it starts to blink,   
begin turning to starboard.  Turn at a rate that makes a full 360 degree\
 turn in 30 seconds to one minute.     
You will need to make about 3 to 4 full turns.  Continue to turn until t\
he Up Arrow and Down Arrow    
LED’s both light up.  They will stay lit for about five seconds and then the system will completely power    
down.  Your compass is now calibrated.
If Up and Down Arrows both continue to blink and does not power down, th\
e compass Calibration has 
failed.   Check for magnetic disturbances in the space around the compass and try\
 to calibrate again.  Make 
the turn as smooth  ( un-accelerated) as you can.  You will need to sh\
ut down the Autopilot and restart it before 
recalibrating.
2.   Verify your tachometer is functioning properly:
    • Press and light up the [
Setup] button and enter code 36. (Press and light up the 3 LED and 6 LED) 
   • Press and hold the [Select Load] (GPS) button and you should see the Up Arrow and Down    
    Arrow LED’s blink your RPM.
  
For example: when the Up Arrow LED blinks 2 times and the Down Arrow LED blinks 5 t\
imes your engine is 
running at 2500 RPM. The autopilot tachometer system has a lower limit s\
etting of 500 RPM, so if your motor 
is running more than 500 RPM and you see 500 on the remote, you are not \
receiving the tach signal.  Move 
your tachometer cable closer to your spark plug (do not put it into the boot) if you don’t see the correct RPM’s 
on your remote.  Also try moving it to the other spark plug wire, then t\
ry it again.
Compass Calibration and Tuning your Autopilot 
						

							
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3.   Tune the feedback gains.  Start from [Standby] mode.  (The STBY light should be lit on the handheld.)
    • Press the [
Setup] button and press and light up code 2 (Number 2 LED on the handheld) - \
this    
       is the rudder gain adjustment code.  Run your boat in a straight line\
 at 1/3 to 1/2 full speed and   
     engage the pilot by pressing the 
Auto/Stby button.  Don’t expect to see good performance yet. 
 
a)  If the boat heading and kicker start oscillating, turn the Rudder G\
ain (code 2) down by pressing and 
releasing the [Down Arrow] button as many times as required to calm the oscillation.
b)  If the boat is making slow “S” turns, turn the Rudder Gain (\
code 2) up by pressing  and releasing the 
UP Arrow button until the boat heading and kicker start to get “twitchy” th\
en back down on the Rudder 
Gain a few clicks.
     Now enter and light up code 3 on the handheld, this is the Counter \
Rudder Gain adjustment code. 
                          •  If the boat heading has slow oscillation\
s, increase the Counter Rudder Gain.
Alternately adjust the Rudder Gain and Counter Rudder Gain until the boa\
t is steering well.
     Now initiate some turns with the [Straight Right Arrow] or [Straight Left Arrow buttons.]  Hold the 
button down only long enough to move the kicker 30 degrees or so, then l\
et up.  The pilot will try to stop the 
turn smoothly and then maintain the new heading.  
a)  If the pilot doesn’t stop the turn very well, decrease Counter Rudder (code 3) gain and increase Rudder Gain 
(code 2).
  b) If the pilot moves the rudder too far when stopping the turn, increa\
se the Counter Rudder Gain (Code 3)            
                         
You should be able to home in on the proper gain settings in a few minut\
es.
 a) If you find that high-speed performance gets “twitchy” when low speed performance is adjusted well, reduce 
the speed schedule (code 35) with the down arrow button and retune.   \
              
 b) If you find that high-speed performance gets “loose” when low speed performance is adjusted well, increase 
the speed schedule (code 35) with the up arrow button and re-tune.
You now want to try different speeds and make minor adjustments to the g\
ains.  You will probably need to 
readjust several times at different speeds to get the system working well at all speeds.  If you find that it just 
won’t tune for all speeds consider the following.
 You must save and download any adjustments you have made to the Autopilo\
t.   To make the 
modified setup parameters into start up defaults:  
 Press and release the [Setup] button (the Setup LED Will light up) then 
  Press and 
hold the [Select Load] GPS button (the load LED will light) and then
  While holding down the [Select Load] button, 
Press and release the Deckmount button quickly. 
  Release the [
Select Load] Button. 
  (
This will lock in your new settings)
                     
                      Continued Next Page.....Note:  If the autopilot seems to be too active in rough water, adjust th\
e Sea State Filter    
 (code 1).  Refer to page 31 for detailed instruction. 
						

							
35
4. Set North:  You must do this, if the autopilot is connected to the GPS.
To run a GPS course requires that the autopilot compass is in agreement with the GPS’s course estimate.  You need to set 
North with the pilot in standby mode.  Do not set North except in calm sea’s and un-accelerated conditions.  You should 
be running at a reasonably high speed, it won’t hurt to be running on plane with your main engine.  With your GPS turned 
on and setup code 48 selected, press and hold the GPS (Select Load) button. 
If the Up Arrow LED illuminates, this means that your GPS connection is not sending cou\
rse information to the autopilot 
correctly.  You must point your boat north and then press and release th\
e Deckmount switch to set compass north.
If the Up Arrow LED does not illuminate, press and release the Deckmount switch to set compass north.  In this case you 
do not need to be pointing north-you only need to be going in a straight\
 line.
Your pilot will power down after north has been set.
Rudder and Counter Rudder Gain.
Let’s assume that you pushed the Auto button when the boat was heading 45 degrees and that  after a 
few seconds your boat has been turned, by wind, to a heading of 55 degre\
es.  The autopilot (and you) 
know that you are trying to steer to 45 degrees and that your current he\
ading is in error by ten degrees to 
the starboard.  How much port rudder do you suspect is the right amount \
to steer to bring the boat back 
to 45 degrees in a reasonable time?  Loaded question!  The amount of rudder required depends on many  
variables like hull shape, boat loading, how fast the rudder can move, b\
oat speed through the water, and 
more.  If we had numerical values for all the variables affecting the required rudder deflection, we could 
calculate the required rudder gain and apply it with the rule:  Rudder is applied in proportion to heading 
error and the proportional constant is rudder gain. 
Since we can’t make a very good guess at what value Rudder Gain should take, we have to adopt a cut 
and try approach to finding the proper value.  Fortunately, we can provide some guidelines as to how the 
system behaves when the Rudder Gain is too large and when it is too smal\
l.
Counter rudder is rudder applied to oppose turning.  It is used to “d\
amp” heading changes and is more 
responsive to disturbances in heading than the proportional rudder deflections caused by heading error.  
Counter Rudder is applied in proportion to the rate of turn, as measured\
 by the gyroscope, and the 
proportionality constant is Counter Rudder Gain. We can provide some guidelines as to how the system 
behaves when the Counter Rudder Gain is too large and when it is too sma\
ll.
A good way to hunt for the proper Rudder and Counter Rudder Gains is by \
commanding the autopilot 
to change heading and watch the heading response.  The following plot sh\
ows how a boat responds in 
heading when it is set up real well.  At time = 0 the Straight Right Arrow button was rapidly pressed 
and released five times, the boat heading was initially 0 degrees, in a few seconds the boat heading is 
steady on 5 degrees.  Tuning should be done with no more than a light breeze and riffles on the water.  
Tuning should be done in forward gear. 
						

							
0
2
4
6
8
Heading
0246810
Time
Well Tuned Response
     The objective of tuning is to set the gains so as to elicit a response with a shape like this that 
reaches the 5 degree heading in as short of a time interval as possible.  You know that you have 
reached this tune when attempts to increase the Rudder Gain or Decrease the counter rudder gain 
results in oscillations in heading. 
     Initial factory setting for Counter Rudder Gain is on the high side for most boats and the 
initial factory setting for Rudder Gain is on the low side.  So the normal search pattern is to 
increase Rudder gain and decrease Counter Rudder gain and look at the response after each 
change.
Continued…………
37

36 
						

							
0
2
4
6
8
Heading
0246810
Time
Too Low
Too High
Rudder Gain Effects
The Rudder Gain Effects plot shows that too low a Rudder Gain will make the heading response 
slow and sloppy, if the Rudder Gain is turned down much lower the heading response will 
become unstable (do everything but hold heading).  The plot also shows, when the Rudder Gain 
is set too high, that the heading oscillates with a high frequency, the rudder will be seen to be 
oscillating with large amplitude and high frequency as the Rudder Gain becomes "too much."
0
2
4
6
8
Heading
0246810
Time
Too Low
Too High
Counter Rudder Gain Effects
Counter Rudder Gain effects are easy to see in the plot above. 
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37 
						

							
Limited Warranty
 
This TR-1 product is warranted to be free from defects in materials or w\
orkmanship for one year from the 
date of purchase.  Within this period, TR-1 will, at its sole option, repair or replace any components that fail in 
normal use.  Such repairs or replacement will be made at no charge to th\
e customer for parts or labor, provided 
that the customer shall be responsible for any transportation cost.  Thi\
s warranty does not cover failures due to 
abuse, misuse, accident, or unauthorized alteration or repairs.
THE WARRANTIES AND REMEDIES CONTAINED HEREIN ARE EXCLUSIVE AND IN LIEU OF 
ALL OTHER WARRANTIES EXPRESS, IMPLIED, OR STATUTORY, INCLUDING ANY LIABILITY 
ARISING UNDER ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR 
PURPOSE, STATUTORY OR OTHERWISE.  THIS WARRANTY GIVES YOU SPECIFIC LEGAL 
RIGHTS, WHICH MAY VARY FROM STATE TO STATE.
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OR 
CONSEQUENTIAL DAMAGES, WHETHER RESULTING FROM THE USE, MISUSE, OR INABILITY 
TO USE THIS PRODUCT OR FROM DEFECTS IN THE PRODUCT.  SOME STATES DO NOT \
ALLOW THE EXCLUSION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES, SO THE ABOVE 
LIMITATIONS MAY NOT APPLY TO YOU.  
TR-1 retains the exclusive right to repair or replace the unit or offer \
a full refund of the purchase price at its 
sole discretion.  SUCH REMEDY SHALL BE YOUR SOLE AND EXCLUSIVE REMEDY FOR ANY 
BREACH OF WARRANTY.
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offers from TR-1.  Online auction confirmations are not accepted for warranty verification.  To obtain warranty 
service, an original or copy of the sales receipt from the original retailer is required.  TR-1 will not replace 
missing components from any package purchased through an online auction.\
International Purchases:  A separate warranty is provided by international distributors for units\
 purchased 
outside the United States.  This warranty is provided by the local in-co\
untry distributor and this distributor 
provides local service for your unit.  Units purchased outside the Unite\
d States or Canada must be returned to 
a TR-1 authorized dealer in the United States for service.
To obtain warranty support, call or email TR-1 Technical Support Special\
ists to describe the problem you are 
experiencing and request a Return Material Authorization (RMA) tracking number.  You will need to provide 
the unit’s serial number (if applicable), your return shipping address, and a daytime telephone number.
 Phone: 1-866-559-0229
  e-mail: [email protected]
 
After you receive the RMA number, securely package the unit and ship it \
(insured) to the following address:
 Garmin International, Inc.
  1200 E. 151
st Street
  RMA number (insert your RMA number here)
  Dock Door #1
  Olathe, KS 66062
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