B&G ZEUS S Operating and maintenance manual

www.bandg.com
ZEUS®S
AUTOPILOT CONTROLLER APP GUIDE
ENGLISH

2
Copyright
© 2023 Navico Group. All Rights Reserved. Navico Group is a division of Brunswick Corporation.
Trademarks
®Reg. U.S. Pat. & Tm. Off, and ™ common law marks. Visit www.navico.com/intellectual-property to review the global trademark rights
and accreditations for Navico Group and other entities.
• Navico®is a trademark of Navico Group.
• B&G®is a trademark of Navico Group.
• Zeus®is a trademark of Navico Group.
Warranty
This product’s warranty is supplied as a separate document.
Safety, disclaimer and compliance
This product’s safety, disclaimer and compliance statements are supplied as a separate document.
Internet usage
Some features in this product use an internet connection to perform data downloads and uploads. Internet usage via a connected
mobile/cell phone internet connection or a pay-per-MB type internet connection may require large data usage. Your service
provider may charge you based on the amount of data you transfer. If you are unsure, contact your service provider to conrm rates
and restrictions. Contact your service provider for information about charges and data download restrictions.
More information
Document version: 001
This document was prepared using software version 1.4.X
Features described and illustrated in this guide may vary from your unit due to continuous development of the software.
For the latest version of this document in supported languages, and other related documentation, visit
www.bandg.com/downloads/zeus-s.

3
CONTENTS
4Overview
4Safety
5Autopilot controller
6Autopilot modes
6Non follow up mode
7Heading hold mode
9Navigation mode
10 No drift mode
11 Follow up mode
12 Wind mode
14 Tune Autopilot
15 Rudder gain
15 Counter rudder
16 Auto trim
16 Rate limit
16 Rudder limit
16 Off heading limit
16 Track response
16 Track approach angle
16 Navigation change limit
16 Init rudder
17 Autopilot settings
18 Sailing settings

4
OVERVIEW
An autopilot is a navigational device that automatically keeps your vessel on a steady course or
route.
SAFETY
⚠WARNING: An autopilot is a useful navigational aid, but it does not replace a human
navigator. Ensure the autopilot has been installed correctly, commissioned and calibrated
before use.
Do not use automatic steering when in:
• Heavy trafc areas or narrow waters.
• Poor visibility or extreme sea conditions.
• Areas where use of an autopilot is prohibited by law.
When using an autopilot:
• Do not leave the helm unattended.
• Do not place any magnetic material or equipment near the heading sensor used by the
autopilot system.
• At regular intervals, verify the course and position of the vessel.
• Always switch the autopilot to standby and reduce speed in time to avoid hazardous
situations.

5
AUTOPILOT CONTROLLER
A B
C
D
E
A Float button — select to undock/dock the controller from the control bar.
¼Note: This option is only available on 12” or larger display units.
B Settings button — select to access the setup guide and parameters.
C Autopilot (mode-dependent) information and buttons.
D Mode button — displays the current mode or last active mode. Select to open the mode list.
E Engage — select to engage the autopilot.
¼Note: When you select the ENGAGE button, it changes to STANDBY. Select STANDBY to stop
navigating with the autopilot.
¼Note: The controller layout and appearance may change based on the display screen size.

6
AUTOPILOT MODES
The autopilot has several steering modes. The number of features within each mode depends on
the autopilot computer, the vessel type and available inputs.
Non follow up mode
In this mode, you use the port and starboard buttons to control the rudder.
To turn on this mode, select the port or starboard button when the autopilot is in STANDBY.
A
B
C
D
E
F
G
A Current heading
B Current rudder angle
C Current rudder angle
D 10° port — select and hold to move the rudder to port in 10°
increments.
E 1° port — select and hold to move the rudder to port in 1°
increments.
F 10° starboard — select and hold to move the rudder to
starboard 10°increments.
G 1° starboard — select and hold to move the rudder to starboard
1°increments.
¼Note: When you press and hold the 1° or 10° buttons, and the rudder moves in the direction
indicated. Release the button at the desired rudder angle.
¼Note: To return the rudder to center, press the opposite button and release when at center.

7
Heading hold mode
Select the mode button, then select HEADING HOLD from the mode list. In this mode, the autopilot
steers the vessel on the set heading. It selects the current compass heading as the set heading.
¼Note: In this mode, the autopilot does not compensate for drifting caused by current and/or wind
(W).
W
A
B
C
D
E
F
G
A Current heading - the bar shows the offset between the set
heading and the current heading.
B Set heading
C Current rudder angle
D 10° port — select to change heading 10°to port.
E 1° port — select to change heading 1°to port.
F 10° starboard — select to change heading 10°to starboard.
G 1° starboard — select to change heading 1°to starboard.
To change the set heading, select a port or starboard button.
An immediate heading change takes place. The heading is
maintained until a new heading is set.

8
Tack/gybe in heading hold mode
Tack/gybe is only available when the boat type is set to sail (autopilot conguration).
• Tacking should only be performed into the wind and must be tried out in calm sea
conditions with light wind.
• Tacking in heading hold mode changes the heading by a xed tack angle, either to port or
starboard.
In heading hold mode, select HEADING HOLD (1), select TACK/GYBE (2), then select the port or
starboard tack button (3) to tack/gybe to port or starboard by the tack angle indicated. The tack
angle can be adjusted under autopilot settings.
1
2
3
¼Note: The tack angle and rate of turn during the tack/gybe is set in the autopilot sailing
settings. For more details, refer to the Sailing settings topic.

9
Navigation mode
⚠WARNING: NAVIGATION mode should only be used in open waters. It must not be used
while sailing because course changes can result in unexpected tacks or gybes.
In NAVIGATION mode, the autopilot automatically steers the vessel to a specic waypoint location,
the cursor, or along a predened route. Position information is used to keep the vessel on the track
line to the destination waypoint.
¼Note: Before entering navigation mode, you must be navigating a route or moving towards a
waypoint or cursor position.
A
B
C
E
D
F
A Current heading - the bar shows the offset between the set
heading and the current heading.
B Cross track error
C Set heading
D Current rudder angle
E Restart button — restarts the navigation from the vessel’s
current position.
F Skip button — skips the active waypoint and steers towards
the next waypoint.
¼Note: The controller layout and appearance will change
based on the display screen size.
Turning in NAVIGATION mode
When the vessel reaches a waypoint, the autopilot will give an audible warning and display a dialog
with the new course information.
There is a limit for the allowed automatic course change to the next waypoint in a route:
• If the required course change to the next waypoint is less than the course change limit, the
autopilot will automatically change the course.
• If the required course change to the next waypoint is more than the set limit, you are prompted
to verify that the upcoming course change is acceptable. If the turn is not accepted, the vessel
will continue with the current set heading.
The course change limit setting depends on the autopilot computer. Refer to the autopilot
computer documentation for more information.

10
No drift mode
Select the mode button, then select NO DRIFT from the mode list. In this mode, the autopilot steers
the vessel along a calculated track line, from the present position and in the direction you set. It
selects the current compass heading as the set heading.
¼Note: If the vessel drifts away from the track line due to current and/or wind (W), the vessel
follows the line with a crab angle.
W
A
B
C
D
E
F
G
A Current heading - the bar shows the error between the set
heading and the current course.
B Set track line
C Current rudder angle
D 10° port — select to change heading 10°to port.
E 1° port — select to change heading 1°to port.
F 10° starboard — select to change heading 10°to starboard.
G 1° starboard — select to change heading 1°to starboard.

11
Follow up mode
Select the mode button, then select FOLLOW UP from the mode list. In this mode, the autopilot
moves the rudder to a set angle and maintains that angle.
A
B
C
D E
A Current heading
B Set rudder angle
C Current rudder angle
D 1° port — select to move the rudder to port in 1°
increments.
E 1° starboard — select to move the rudder to starboard in
1°increments.

12
Wind mode
⚠WARNING: In WIND mode, the autopilot steers to the apparent or true wind angle and
not to a compass heading. Any wind shift could result in the vessel steering on an undesired
course.
In WIND mode, the autopilot captures the current wind angle as steering reference, and adjusts
the heading of the boat to maintain this wind angle. The autopilot keeps the boat on the set wind
angle until a new wind angle is set.
¼Note: Wind mode is only available when the boat type is set to Sail in the autopilot settings.
You cannot activate wind mode if wind information is missing.
A
B
C
D
H
G
E
F
A Current heading - the bar shows the offset between the set
heading and the current heading.
B True wind angle (TWA)/Apparent Wind Angle (AWA)
C Set angle
D Set heading
E 10° starboard – select and hold to change the TWA to
starboard in 10°increments.
F 1° starboard – select and hold to change the TWA to
starboard in 1°increments.
G 1° port – select and hold to change the TWA to port in 1°
increments.
H 10° port – select and hold to change the TWA to port in 10°
increments.
¼Note: The controller layout and appearance will change
based on the display screen size.
Wind reference angle
To change the set wind reference angle, select a port or starboard button. An immediate change of
wind reference angle takes place.
Wind mode display
To change the wind mode display for (B) to either TWA or AWA go to Settings > Boat Network
> Autopilot settings > Sailing > Wind function. Refer to the Autopilot settings topic in this
document.

13
Tacking and gybing in wind mode
The tack/gybe option in wind mode mirrors the set wind angle on the opposite tack. Tacking and
gybing in wind mode can be performed when sailing with apparent or true wind as the reference. In
either case, the true wind angle must be less than 90° (tacking) and more than 120° (gybing).
The rate of turn during the tack/gybe is set by the Tack time in the autopilot sailing settings. For
more details, refer to the Autopilot settings topic.
Select Wind (1) and choose Tack (2) or Gybe (4) depending on wind angle, and you will be prompted
on the direction the boat will turn. Accept the tack (3) or gybe (5) or reject with the X button.
1
2
3
4
5
¼Note: The autopilot will temporarily add a 5° bear-away on the new tack to allow the boat to
pick up speed. After a short period the wind angle will return to the set angle.

14
TUNE AUTOPILOT
The settings button (1) gives you access to the settings menu. Select Tune autopilot (2) to adjust
autopilot settings.
¼Note: Most of the settings should already have been made during the setup of the autopilot
computer.
¼Note: Only some of the settings are described in this document. Refer to your autopilot
computer documentation for more information.
2
3
1

15
Rudder gain
This parameter determines the ratio between the commanded rudder and the heading error.
More rudder is applied when a higher rudder gain value is used. If the value is too small (B), it takes
a long time to compensate for a heading error, and the autopilot fails to keep a steady course. If the
value is set too high (A), the overshoot increases and the steering is unstable.
A
B
Counter rudder
Counter rudder is the amount of counteracting (opposite) rudder applied to stop the turn at the
end of a major course change.
The settings depend on the vessel’s characteristics, inertia, hull shape, and rudder efciency.
• If the vessel has good dynamic stability, a relatively small value is sufcient.
• An unstable vessel needs a high value.
• The greater the vessel’s inertia, the greater the value needed.
Increasing the counter rudder value can result in some higher rudder activity when steering a
straight course, particularly in high waves.
The best time to check the value of the counter rudder setting is when the autopilot is turning the
vessel. The following diagrams show the effects of various counter rudder settings.
A B C
A A low counter rudder value causes an overshoot response.
B A high counter rudder value causes a sluggish and creeping response.
C A correct counter rudder value gives an ideal response.
Perform various course changes and observe how the vessel settles on the new heading. Start with
small changes, 10°- 20°, and proceed with bigger changes, 60°- 90°. Adjust the counter rudder
value to get the best possible response.
¼Note: Because vessels turn differently to port and starboard (due to propeller rotation
direction), you have to make course changes in both directions. You may end up with a
compromised counter rudder value that gives a little overshoot to one side and a marginal
creeping response on the other.

16
Auto trim
Auto trim (seconds) controls how fast the autopilot will apply a constant heading offset.
E.g., when external forces such as wind or current affects the heading. Lower auto trim will give
faster, limitation of a constant heading offset.
¼Note: This setting should be increased proportionally with vessel length.
Rate limit
Sets the target rate of turn (degrees per minute) used for a heading change.
Rudder limit
Sets a rudder angle limit when an alert is displayed for maximum rudder angle.
Off heading limit
Sets an alert when the heading changes beyond the set limit.
Track response
Denes how aggressively the autopilot should steer towards the active route’s leg.
Track approach angle
This setting is a limit to prevent approaching the track too steeply. Approaching the track at
shallower angles is permitted depending on the cross track distance (XTD) and track response
setting. This setting is used both when you start navigating and whenever the autopilot is working
the boat towards the route.
Navigation change limit
Denes the limit for automatic course change to next waypoint in a route when the autopilot is
following a route (NAVIGATION mode). If the course change is greater than this set limit, you are
prompted to verify that the upcoming course change is acceptable.
Init rudder
Sets the rudder starting position after initiation of auto steering. Choose between Actual or Centre
positions.
• Actual — engages the pilot at current rudder angle.
• Centre — moves the rudder back to 0°.

17
AUTOPILOT SETTINGS
You can set up the various parameters for a connected autopilot computer here.
1
2
Navigate to Settings > Boat network > Device > Autopilot computer . Select the autopilot menu
(1) to see further options, then congure the desired settings.
Select Reset device to reset the autopilot computer to factory defaults.

18
Sailing settings
To change the Tack time settings, navigate to Settings > Boat network > Device > Autopilot
computer . Select the autopilot menu (1), then select Sailing (2).
1
2
3
Tack angle
Set the tack angle for auto mode to the desired setting.
Wind function
Set the wind function to Apparent, True or Auto.
In auto, the autopilot will sail to AWA if TWA is < 70 or TWA if >/= 70°in wind mode.
¼Note: The autopilot will temporarily add a 5° bear-away on the new tack to allow the boat to
pick up speed. After a short period the wind angle will return to the set angle.

© 2023 Navico Group. All Rights Reserved.
Navico Group is a division of Brunswick Corporation.
®Reg. U.S. Pat. & Tm. Off, and ™ common law marks.
Visit www.navico.com/intellectual-property to review the global trademark
rights and accreditations for Navico Group and other entities. www.bandg.com