 float heading;
 float rudder;
 float sheet;
-
+float compassOffset;
 
 Servo tillerServo;
 Servo sheetServo;

  Wire.begin();
  remoteState = SBTSailbotModelStateManualControl;
  windDirection = -1.0;
  calibratedWind = false;
  imu = RTIMU::createIMU(&settings);                        // create the imu object


      }
    case SBTSailbotModelHeaderManualControl: {
        remoteState = SBTSailbotModelStateManualControl;

        int remoteRudder;
        memcpy(&remoteRudder, &data[1], sizeof(remoteRudder));
        rudder = (float)remoteRudder;

        int remoteSheet;
        memcpy(&remoteSheet, &data[1 + 4], sizeof(remoteSheet));
        sheet = (float)remoteSheet;

        tillerServo.write(((rudder / 10.0) + M_PI / 2.0) * 180.0 / M_PI);
        sheetServo.write((sheet / 10.0) * 60 + 90);
        Serial.print("Manual control: "); Serial.println(rudder);
