Videos are finally uploaded to YouTube. This is the mission in real time:
This is it speed up 8x in case you don’t have 40mins to spare .
Over all I am very pleased with how it went. The wind was quite shifty and gusty but essentially it dealt with it and manged to complete the mission. It sailed almost exactly 1 mile completely autonomously. I did a quick test of all the modes, they are labeled in the real time version. Again everything worked as expected. It got a bit confused about the wind direction when it got very light, this could be improved if I had set a suitable wind vane cut of wind speed, it just ignores the vane at wind speeds less than the cut off. Also it did some odd stuff sometimes when the wind shifted and it swapped back on to L1 controller, it would be tacking then the wind would shift so it would switch back to the L1 controller because the desired heading was no longer upwind. This would result in it turning round and sailing almost back where it came from to get back on the line between way-points. It would be more logical just to carry on towards the next way-point. This could be fixed by a bit of a rejig of how the heading controller works and a parameter to define at what wind angles the L1 controller is used, from a sailing point of view heading control would probably be better 100% of the time. I guess if your mapping or have a motor too you may prefer to try and keep on the line.
Anyway I think that can wait for another pull request, better that I do some documentation before I forget how it all works. Unfortunately I have to go back to my proper job on Monday after messing about with boats for three weeks. Hopefully I can find a nice spot to do some testing somewhere and keep doing some development. I have some other stuff to build too, a boosted tri-copter to rebuild and a TVBS to play with, then I have been thinking about maybe a land yacht. Would be quite a challenge for the code I think since they can quite easily go faster than the wind but if we can get it working for that it should be fine for boats. Would also be good to do some work on motor sailing, I think we might get more interest if we can just add a small sail to a existing boat and get twice the battery life, but still use the motors to remove all the difficulty associated with being 100% wind powered.