Abstract: Methods, systems, and computer-readable media for controlling a toolface of a downhole tool are described. The toolface of the downhole tool, and a toolface setpoint, are determined. Based on the toolface and the toolface setpoint, a toolface error is determined. Based on the toolface error, one or more drilling parameter setpoints are selected from among multiple drilling parameter setpoints. The selected one or more drilling parameter setpoints are adjusted. The adjusted one or more drilling parameter setpoints are inputted to one or more drilling controllers for controlling the toolface of the downhole tool.

Abstract: Methods, systems, and computer-readable media for controlling a toolface of a downhole tool are described. The toolface of the downhole tool, and a toolface setpoint, are determined. Based on the toolface and the toolface setpoint, a toolface error is determined. Based on the toolface error, one or more drilling parameter setpoints are selected from among multiple drilling parameter setpoints. The selected one or more drilling parameter setpoints are adjusted. The adjusted one or more drilling parameter setpoints are inputted to one or more drilling controllers for controlling the toolface of the downhole tool.

Abstract: There is described a method of determining a reactive torque factor for use in controlling a toolface of a downhole tool. For each of one or more sliding operations, a change in a top drive position of a drive unit operable to rotate a drill string connected to the downhole tool is determined, a change in a toolface of the downhole tool is determined, and a change in a differential pressure is determined. Based on the change in the top drive position, the change in the toolface, and the change in the differential pressure, a reactive torque factor is determined.

Abstract: Methods, systems, and computer-readable media for controlling a toolface of a downhole tool are described. The toolface of the downhole tool, and a toolface setpoint, are determined. Based on the toolface and the toolface setpoint, a toolface error is determined. Based on the toolface error, one or more drilling parameter setpoints are selected from among multiple drilling parameter setpoints. The selected one or more drilling parameter setpoints are adjusted. The adjusted one or more drilling parameter setpoints are inputted to one or more drilling controllers for controlling the toolface of the downhole tool.

Abstract: Methods, systems, and computer-readable media for controlling a toolface of a downhole tool are described. The toolface of the downhole tool, and a toolface setpoint, are determined. Based on the toolface and the toolface setpoint, a toolface error is determined. Based on the toolface error, one or more drilling parameter setpoints are selected from among multiple drilling parameter setpoints. The selected one or more drilling parameter setpoints are adjusted. The adjusted one or more drilling parameter setpoints are inputted to one or more drilling controllers for controlling the toolface of the downhole tool.

Abstract: There is described a method of determining a reactive torque factor for use in controlling a toolface of a downhole tool. For each of one or more sliding operations, a change in a top drive position of a drive unit operable to rotate a drill string connected to the downhole tool is determined, a change in a toolface of the downhole tool is determined, and a change in a differential pressure is determined. Based on the change in the top drive position, the change in the toolface, and the change in the differential pressure, a reactive torque factor is determined.

Abstract: Methods, systems, and computer-readable media for controlling a toolface of a downhole tool are described. The toolface of the downhole tool, and a toolface setpoint, are determined. Based on the toolface and the toolface setpoint, a toolface error is determined. Based on the toolface error, one or more drilling parameter setpoints are selected from among multiple drilling parameter setpoints. The selected one or more drilling parameter setpoints are adjusted. The adjusted one or more drilling parameter setpoints are inputted to one or more drilling controllers for controlling the toolface of the downhole tool.