A step closer to autonomous sailing

At this moment i'm a step closer to the semi autonomous sailing vessel.
I completed the code to adjust the rudder gradually depending on how big the turn needs to be.
This means that when the boat has to correct his course 1 or 2 degrees the rudder will only make a very small movement and when for example the course is changed from 90 degrees to 120 degrees there will be a bigger rudder deflection.
the incoming data is based on a compass from sparkfun (LSM303) which is a tilt compensated compass which is very valuable for a sailing vessel, it doesn't check the information with the GPS module at this moment and I doubt if I will manage to implement the GPS module.

The next step for me is to implement the wind sensor in the code and adjust the main sail according to the data from the wind sensor. In this way the main sail will always adjust its settings accordingly to the wind and thus have always the optimum position.

The compass module connected to the arduino. 

on this picture connected to the computer to read the serial 

communication and in this way check the program.