First Completion of a Sailing Course - No Hands!

First Completion of a Sailing Course - No Hands!

After recent revisions of the onboard software I was able to run another test after work and this time successfully completed a sailing course with no manually intervention.

At any time, while in range, I can switch on an RC Transmitter and take over manual control of the boat, and then revert back to following the mission or several other options. I've often needed to do this previously to recover the boat from situations caused by errors in my software.
This was the first time that the boat has completed a course while sailing, with no manual intervention.

The course involved 6 waypoints with running, reaching and beating, with a light wind from the NNE.

The Short Sailing Course just completed. 

I'll need to study the logs very carefully, but the initial impression is that the software behaved ok, but compass calibration is a big problem, with errors of up to 40 degrees.
The large compass error meant that the course sailed was not very good. The marks were overlaid and underlaid, causing excessive tacking. But at least the software was resilient enough to get it around the course.

Nearing the Last Waypoints after Sunset

Monitoring Progress in Real-Time through the Telemetry

Note: This is part of the ongoing development of a low cost autonomous oceangoing sailing drones, utilising a self-trimming wingsail. This is the Voyager series of sailing drones.