diff --git a/ArduBoat/ControllerSailboat.h b/ArduBoat/ControllerSailboat.h
index f7431b07ca..ace0ab33a6 100644
--- a/ArduBoat/ControllerSailboat.h
+++ b/ArduBoat/ControllerSailboat.h
@@ -19,7 +19,7 @@ public:
         AP_Controller(nav, guide, hal,new AP_ArmingMechanism(hal,this,ch_sail,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),
-        pidsail(new AP_Var_group(k_pidsail, PSTR("SAIL_")), 1, throttleP,
+        pidSail(new AP_Var_group(k_pidSail, PSTR("SAIL_")), 1, throttleP,
                   throttleI, throttleD, throttleIMax, throttleYMax,
                   throttleDFCut), _strCmd(0), _sailCmd(0)
     {
@@ -32,7 +32,7 @@ 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_chSail, PSTR("SAIL_"), hal->radio, 2, 1100, 1100,
                              1900, RC_MODE_INOUT, false));
     }
 
@@ -41,20 +41,46 @@ private:
     void manualLoop(const float dt) {
         _strCmd = _hal->rc[ch_str]->getRadioPosition();
         _sailCmd = _hal->rc[ch_sail]->getRadioPosition();
+        _hal->debug->printf_P(PSTR("sail: %f, steering: %f\n"),_sailCmd,_strCmd);
     }
     void autoLoop(const float dt) {
         //_hal->debug->printf_P(PSTR("cont: ch1: %f\tch2: %f\n"),_hal->rc[ch_sail]->getRadioPosition(), _hal->rc[ch_str]->getRadioPosition());
-        float windDir = analogRead(1);
-        _hal->debug->printf_P(PSTR("wind directiono: %f\n"),windDir);
+        float windDir = -.339373*analogRead(1)+175.999;       
         // neglects heading command derivative
         float steering = pidStr.update(_guide->getHeadingError(), -_nav->getYawRate(), dt);
-        float sail = 0;
+        float sail = 0.00587302*fabs(windDir) - 0.05;
+        if (sail < 0.0) sail = 0.0;
+        _hal->debug->printf_P(PSTR("wind direction: %f, sail: %f, steering: %f\n"),windDir,sail,steering);
+  /*    float calibrate = 0.34;                             //Calibration Factor from analog reading
+   *    float relwinddir = windDir*calibrate;               //Wind Direction Relative to boat
+        float pathideal;                                    //Path from boat to waypoint
+        float psi = relwinddir-pathideal;                   //Angle between relative wind direction and path from boat to waypoint
+        float alpha = relwinddir-heading;                   //Angle between relatvive wind direction and the heading
+        
+        _hal->debug->printf_P(PSTR("heading: %f\n"),heading);       //Print Heading 
+     
+        if(fabs(psi)<45)                                    //Tacking Logic
+        {
+            if(psi<-10)
+                alpha = -45;
+            else if(psi>10)
+                alpha = 45;
+            else
+            {
+                if(psi==10)
+                    alpha = 45;
+                else if(psi==-10)
+                    alpha = -45;
+                else 
+                    alpha = alpha;
+            }
+        }*/
         _strCmd = steering;
         _sailCmd = sail;
     }
     void setMotors() {
         _hal->rc[ch_str]->setPosition(_strCmd);
-        _hal->rc[ch_sail]->setPosition(fabs(_sailCmd) < 0.1 ? 0 : _sailCmd);
+        _hal->rc[ch_sail]->setPosition(_sailCmd);
     }
     void handleFailsafe() {
         // turn off
@@ -66,13 +92,13 @@ private:
         ch_mode = 0, ch_str, ch_sail
     };
     enum {
-        k_chMode = k_radioChannelsStart, k_chStr, k_chsail
+        k_chMode = k_radioChannelsStart, k_chStr, k_chSail
     };
     enum {
-        k_pidStr = k_controllersStart, k_pidsail
+        k_pidStr = k_controllersStart, k_pidSail
     };
     BlockPIDDfb pidStr;
-    BlockPID pidsail;
+    BlockPID pidSail;
     float _strCmd, _sailCmd;
 };
 
diff --git a/ArduBoat/SailboatLaser.h b/ArduBoat/SailboatLaser.h
index 4bf037496d..c6e52f7677 100644
--- a/ArduBoat/SailboatLaser.h
+++ b/ArduBoat/SailboatLaser.h
@@ -11,7 +11,8 @@
 
 // vehicle options
 static const MAV_TYPE vehicle = UGV_SURFACE_SHIP; 
-static const apo::halMode_t halMode = apo::MODE_LIVE;
+//static const apo::halMode_t halMode = apo::MODE_LIVE;
+static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
 static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
 static const uint8_t heartBeatTimeout = 3;