I have never used this type of setup so I will tread lightly. I would think the jerky and erratic problems would be centered around the motor over powering because of programming. Much like what clfarms1 added in the above post. Even my 83# on my 21' bassboat can all but throw me into the water when set incorrectly for the situation. Thrust is directly related to motor speed. Just because the motor is a 112# does not mean it is producing 112# at a lower speed setting.
Have you experienced this with both the Ipilot and Xi5?
Is the thrust/speed set by the Ipilot or set by the operator?
Interesting angle to the thread


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