 #define MAX_RUDDER 10.0
 
 unsigned long lastDataPacketSent;
+unsigned long timeOnCurrentTack;
 
 char state;
 char remoteState;

float automaticHeading;
float rudder;
float sheet;
float compassOffset;

Servo tillerServo;
Servo sheetServo;

  Wire.begin();
  remoteState = SBTSailbotModelStateManualControl;
  windDirection = -1.0;
  tackAngle = 90.0 * M_PI / 180.0;
  calibratedWind = false;
  imu = RTIMU::createIMU(&settings);                        // create the imu object

