I hadn’t used my boat in a while, so today I sent N4N1 on a course that circumnavigated Saildrone Surveyor (on her mooring). I’ll edit the video soon. Worked well enough to go twice around but not a great driver in the gusts (on a path with lots of reaching) – I think I will try enabling the heel control PID. The integrator on rudder eventually gets it but I had some big transient wiggles.
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