The Autopilot microprocessor controls 8 devices: GPS, Electronic Compass, 4-switch Relay, Remote Control, SD Card, Rudder Angle Indicator, Beeper and Bluetooth for communication with the Android app:
Android app using SignalK data format
Autopilot prototype located in the boat
The software is written in C and rich on comment ...
See it working while on motor ...
Testing the autopilot on a straight but narrow canal in Friesland ...
An earlier (less efficient) prototype, while sailing ...
Self-steering on flat water is relatively easy. More interesting is self-steering on rough water. Markermeer with Beaufort 6-7 ...