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Simple Boat Autopilot V2

This is an autopilot I designed specifically for heading control of a boat. To set it up, you will need to wire up the GPS X and Y coordinates, a large keypad (or some other way of entering your desired X and Y coordinates), a compass sensor facing toward the bow of the ship/boat, your normal helm or "manual" control input and finally an on/off control like a toggle switch. It has several outputs such as your current heading, current bearing to your selected target, and an output for control. You may have to tweak the internal PID controller to the desired setting for your particular vessel.

It's not the most elegant design but after much tweaking seems to work pretty well for my current build. It does not suffer from extreme northerly headings. I know some autopilots are not "smart" enough to realize that after 360 degrees it goes back to 0. For example, if you're heading 020 and wish to turn to 340, the autopilot will try to make a 320 degree right turn instead of a much faster 40 degree left turn. I managed to make a workaround for this problem (but I forget how I did it haha)