Modes

This outlines the differences in sailboat behaviour from the standard Rover modes.

Manual

Sail position is directly controlled by throttle position. Minimum throttle is sail fully in, maximum throttle is sail fully released. You may find the controller disarms when tacking to the left travelling upwind with the sails tight. If this is an issue disable stick disarming.

ACRO

The Sail is automatically trimmed to the wind direction using the wind vane. A tack can be triggered from an aux switch; the vehicle will match its current angle to the true wind on the new tack.

Loiter

The vehicle will keep moving within the loiter radius.

RLT

The vehicle will tack upwind back to the home location if required.

AUTO

The vehicle will tack upwind to reach the next waypoint if required. Note that if the vehicle has to tack it will not stay on the line between waypoints. While traveling upwind a tack can be triggered from an aux switch or by a maximum cross track error defined by WP_OVERSHOOT.