         // rudder
         int remoteRudder;
         memcpy(&remoteRudder, &data[1], sizeof(remoteRudder));
-        setRudder(((float)remoteRudder) / MAX_MANUAL);
+        setRudder(((float)remoteRudder) / MANUAL_RESOLUTION * 2.0);
         // sheet
         int remoteSheet;
         memcpy(&remoteSheet, &data[1 + 4], sizeof(remoteSheet));
-        setSheet(((float)remoteSheet) / MAX_MANUAL);
+        setSheet(((float)remoteSheet) / MANUAL_RESOLUTION);
         break;
       }
     case SBTSailbotModelHeaderWindDirection: {

#define DATA_PACKET_SEND_INTERVAL  500
#define  SERIAL_PORT_SPEED  9600

#define MAX_MANUAL 20.0
#define MAX_RUDDER (M_PI/4.0)

unsigned long lastDataPacketSent;
unsigned long timeOnTackSequence;

        }
        calibratedWind = true;
        state = SBTSailbotModelStateManualControl;
//        Serial.print("Set wind direction: "); Serial.println(newWindDirection);
      }
    default:
      break;
