@skyscraper, sure drop me a message. You can also catch up on the AP discord server.
The model is better set up now, and I’ve run an initial tune of the AP heel controller for you catamaran and its holding a float out now when there is enough wind. The sail joint controller (in Gazebo - not AP) is still out of tune, so it’s not sheeting quite to where the AP controller would like it all the time. (In Gazebo you need to also tune the force controlled joint position and velocity controllers - it’s like having to tune your servo motors or the ESCs by hand).
Interestingly when I increase the waves slightly from flat water we start to see the difficulties in auto controlling a multi-hull. If the leeward hull catches it will pitchpole, and there is no controller to catch that (sheet out and bear away - so over it goes).
