 float automaticHeading;
 float rudder;
 float sheet;
-float compassOffset;
+float tackAngle;
+float tackTime;
 
 Servo tillerServo;
 Servo sheetServo;

        if (newWindDirection < 0) {
          windDirection = heading;
        } else {
          windDirection = ((float)newWindDirection) * M_PI / 180.0;
        }
        calibratedWind = true;
        state = SBTSailbotModelStateManualControl;

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

