I am currently attempting to convert an RC sailing bot into a fully autonomous sailing boat however there is something that i cannot work out, ive got a pixhawk and arduino that will be used as the brains for the system and have a magnetic shaft encoder that will be used as the wind vane.
my issue is that on mission planner i understand that you are able to set the way points and the boat will follow these, what happens though if the way point means that the boat has to try and sail into the wind. what is the simplest way to avoid this happening? would it be to send mavlink messages to the pixhawk or is there a way to solve this issue in mission planner.
any help would be much appreciated.