From ee317299fc931384a8b81e5c90cada28b0b85ca0 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 5 Jan 2022 15:14:25 +0900
Subject: [PATCH] Rover: sailboats enable wpnav's overspeed support

---
 Rover/sailboat.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/Rover/sailboat.cpp b/Rover/sailboat.cpp
index 7a8d137212..c547a9cb1f 100644
--- a/Rover/sailboat.cpp
+++ b/Rover/sailboat.cpp
@@ -141,6 +141,10 @@ void Sailboat::init()
     // sailboat defaults
     if (sail_enabled()) {
         rover.g2.crash_angle.set_default(0);
+
+        // sailboats without motors may travel faster than WP_SPEED so allow waypoint navigation to
+        // speedup to catch the vehicle instead of asking the vehicle to slow down
+        rover.g2.wp_nav.enable_overspeed(motor_state != UseMotor::USE_MOTOR_ALWAYS);
     }
 
     if (tack_enabled()) {