I just wanted to share this pretty cool thing the sailing logic group have been working on lately. The sailing logic simulator shows what is going on when the SailBot is given new instructions. You can see the SailBot steering at a given heading, all parameters (GPS, course over ground, apparent wind angle, etc) are changing based on the simulation of real-world conditions.
When the sailing logic is given a new heading it tries to correct the course to this, but wind-conditions makes the SailBot constantly having to correct its course to keep the desired heading.
The rudder is suddenly turned completely, resulting in a rapid change in parameters such as heading and course over ground. When the rudder is finally turned back to it’s original position you can observe the sailing logic trying to keep the desired heading.