   Wire.begin();
   remoteState = SBTSailbotModelStateManualControl;
   windDirection = -1.0;
+  compassOffset = M_PI;
   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);

float heading;
float rudder;
float sheet;
float compassOffset;

Servo tillerServo;
Servo sheetServo;
