diff --git a/ArduBoat/BoatGeneric.h b/ArduBoat/BoatGeneric.h
index 8289445440..7b7bff0eb2 100644
--- a/ArduBoat/BoatGeneric.h
+++ b/ArduBoat/BoatGeneric.h
@@ -47,6 +47,9 @@ static const float batteryVoltageDivRatio = 6;
 static const float batteryMinVolt = 10.0;
 static const float batteryMaxVolt = 12.4;
 
+
+static const bool useForwardReverseSwitch = true;
+
 static const bool rangeFinderFrontEnabled = false;
 static const bool rangeFinderBackEnabled = false;
 static const bool rangeFinderLeftEnabled = false;
diff --git a/ArduBoat/ControllerBoat.h b/ArduBoat/ControllerBoat.h
index 7867c7ef5b..633609743e 100644
--- a/ArduBoat/ControllerBoat.h
+++ b/ArduBoat/ControllerBoat.h
@@ -16,9 +16,13 @@ class ControllerBoat: public AP_Controller {
 public:
     ControllerBoat(AP_Navigator * nav, AP_Guide * guide,
                   AP_HardwareAbstractionLayer * hal) :
-        AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_sail,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
+        AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_thrust,ch_str,0.1,-0.9,0.9), ch_mode, k_cntrl),
         pidStr(new AP_Var_group(k_pidStr, PSTR("STR_")), 1, steeringP,
-               steeringI, steeringD, steeringIMax, steeringYMax)
+               steeringI, steeringD, steeringIMax, steeringYMax),
+        pidThrust(new AP_Var_group(k_pidThrust, PSTR("THR_")), 1, throttleP,
+                  throttleI, throttleD, throttleIMax, throttleYMax,
+                  throttleDFCut), _strCmd(0), _thrustCmd(0),
+      _rangeFinderFront()
     {
         _hal->debug->println_P(PSTR("initializing boat controller"));
 
@@ -29,30 +33,61 @@ public:
             new AP_RcChannel(k_chStr, PSTR("STR_"), hal->radio, 3, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
         _hal->rc.push_back(
-            new AP_RcChannel(k_chSail, PSTR("SAIL_"), hal->radio, 2, 1100, 1500,
+            new AP_RcChannel(k_chThrust, PSTR("THR_"), hal->radio, 2, 1100, 1500,
                              1900, RC_MODE_INOUT, false));
+        _hal->rc.push_back(
+            new AP_RcChannel(k_chFwdRev, PSTR("FWDREV_"), hal->radio, 4, 1100, 1500,
+                             1900, RC_MODE_IN, false));
+
+        for (uint8_t i = 0; i < _hal->rangeFinders.getSize(); i++) {
+            RangeFinder * rF = _hal->rangeFinders[i];
+            if (rF == NULL)
+                continue;
+            if (rF->orientation_x == 1 && rF->orientation_y == 0
+                    && rF->orientation_z == 0)
+                _rangeFinderFront = rF;
+        }
     }
 
 private:
     // methods
     void manualLoop(const float dt) {
         _strCmd = _hal->rc[ch_str]->getRadioPosition();
-        _sailCmd = _hal->rc[ch_sail]->getRadioPosition();
+        _thrustCmd = _hal->rc[ch_thrust]->getRadioPosition();
+        if (useForwardReverseSwitch && _hal->rc[ch_FwdRev]->getRadioPosition() < 0.0)
+            _thrustCmd = -_thrustCmd;
     }
     void autoLoop(const float dt) {
-
-        // insert tacking logic here
-        
+        //_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_thrust]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
         // neglects heading command derivative
         float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
-        _strCmd = steering;
+        float thrust = pidThrust.update(
+                         _guide->getGroundSpeedCommand()
+                         - _nav->getGroundSpeed(), dt);
 
-        // insert sail command calculation based on sensor position here
-        _sailCmd = 0; 
+        // obstacle avoidance overrides
+        // try to drive around the obstacle in front. if this fails, stop
+        if (_rangeFinderFront) {
+            _rangeFinderFront->read();
+
+            int distanceToObstacle = _rangeFinderFront->distance;
+            if (distanceToObstacle < 100) {
+                thrust = 0;   // Avoidance didn't work out. Stopping
+            }
+            else if (distanceToObstacle < 650) {
+                // Deviating from the course. Deviation angle is inverse proportional
+                // to the distance to the obstacle, with 15 degrees min angle, 180 - max
+                steering += (15 + 165 *
+                    (1 - ((float)(distanceToObstacle - 100)) / 550)) * deg2Rad;
+            }
+        }
+
+        _strCmd = steering;
+        _thrustCmd = thrust;
     }
     void setMotors() {
         _hal->rc[ch_str]->setPosition(_strCmd);
-        _hal->rc[ch_sail]->setPosition(_sailCmd);
+        _hal->rc[ch_thrust]->setPosition(fabs(_thrustCmd) < 0.1 ? 0 : _thrustCmd);
     }
     void handleFailsafe() {
         // turn off
@@ -61,17 +96,19 @@ private:
 
     // attributes
     enum {
-        ch_mode = 0, ch_str, ch_sail
+        ch_mode = 0, ch_str, ch_thrust, ch_FwdRev
     };
     enum {
-        k_chMode = k_radioChannelsStart, k_chStr, k_chSail
+        k_chMode = k_radioChannelsStart, k_chStr, k_chThrust, k_chFwdRev
     };
     enum {
-        k_pidStr = k_controllersStart
+        k_pidStr = k_controllersStart, k_pidThrust
     };
     BlockPIDDfb pidStr;
-    float _strCmd;
-    float _sailCmd;
+    BlockPID pidThrust;
+    float _strCmd, _thrustCmd;
+
+    RangeFinder * _rangeFinderFront;
 };
 
 } // namespace apo