Sailboat Support

Hi @meholden ,

I am a great fan of your Sailboat works too, especially sailing around SailDrone and your intro to Sailboat on SITL video, and sailing in strong winds. Have watched them all!

The balanced una rig works very well. The balanced nature of the rig means it is fast to repond and doesn’t use much power, so you can use a sail arm servo rather than a winch. It is also very simple to rig. I want to try it on a real life version of the Ardupilot SITL Gazebo catamaran model, mentioned above, where basically the same rig is used. Only downside is that it really needs a lathe, milling machine etc, to make the torsion bar, but that is not a problem if you have access to a makerspace near you. I have access to a fantastic set of tools at my local makerspace Swindon Makerspace as well as amazing tech support from them.

The P3022 encoder is a great solution and would definitely recommend it for a keelboat, but I opted to try and make something that is rated to IP68 , since I am working on a Catamaran which once it flips stays upside down, so I have to pay more attention to waterproofing everything.

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