   remoteState = SBTSailbotModelStateManualControl;
   windDirection = -1.0;
   tackAngle = 90.0 * M_PI / 180.0;
+  tackTime = 20.0 * 1000.0; // 20 seconds
   calibratedWind = false;
   imu = RTIMU::createIMU(&settings);                        // create the imu object
 

    case SBTSailbotModelHeaderAutomaticControl: {
        remoteState = SBTSailbotModelStateAutomaticControl;
        int newHeading;
        memcpy(&newHeading, &data[1], sizeof(newHeading));
        automaticHeading = ((float)newHeading) * M_PI / 180.0;
        Serial.print("Automatic heading: "); Serial.println(automaticHeading);

float rudder;
float sheet;
float tackAngle;
unsigned long tackTime;

Servo tillerServo;
Servo sheetServo;
