This outlines the differences in sailboat behaviour from the standard Rover modes.
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.
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.
The vehicle will tack upwind back to the home location if required.