Flight Control Unit

The FCU controls the hydrofoils to keep the boat foiling in a stable and efficient manner.

2.28.1 (latest)

June 1st, 2026
  • Internal changes only, no new functionality

2.27.0

May 11th, 2026
  • P12: correct default ECU orientation
  • Smoother takeoff and landing pitch ramping
  • Add foil drive-down error handler
  • Fix yaw rate filter re-initialisation when course converges with heading
  • Wait for GPS fix to limit false GPS errors
  • Software performance improvements

2.26.3

April 14th, 2026
  • Handle GPS timeout at startup

2.26.2

March 17th, 2026
  • P12: Increase AoA at takeoff
  • P12: Increase AoA twist margin slightly
  • Improve handling of stall AoA while flying

2.23.2

November 21st, 2025
  • C8: Fixes an issue with the front actuators making a noise when retraction was running

2.23.1

October 28th, 2025
  • C8: Fixes an issue where the aft lockpin did not go all the way in
  • Fixes an issue with the flight controller failing to update

2.22.2

August 22nd, 2025
  • C8: Retraction now remembers the last position if there was an unexpected restart. This fixes an issue were retraction reported loss of calibration at start-up

2.21.3

June 30th, 2025
  • Fixed issue that could cause propulsion to turn off when going to harbor mode
  • P12: Fixed that an error in current limiting for foil actuator, that caused RPM to incorrectly be limited without reporting any error

2.21.2

June 19th, 2025
  • Enhanced Wave State Observer with better performance in varied wave conditions
  • Improved height estimator
  • Improved acceleration filtering for smoother speed control
  • Enhanced degraded mode system to better indicate when flight capability is limited
  • Improved foil retraction behavior to prevent unexpected foil movement
  • Always run pitch controller when control system is active and rake is ready, preventing nose dives when GPS signal is lost
  • Improved takeoff anticipation to provide smoother transitions from planing to foiling
  • Fixed an issue where RPM limits were not properly applied during certain retraction states
  • Several stability and reliability improvements to flight control systems
  • Improve takeoff in strong side wind

2.20.5

April 4th, 2025
  • Reduce the overhead of the retraction task when retraction is not running
  • Improvements to height estimation
  • Optimized foil handling on takeoff
  • Inform driver if loss of communication with the DCU
  • Inform driver if one of the lockpins are not responding
  • Improvements to front foil positioning when not foiling
  • User will now be requested to calibrate if retraction has lost its position
  • Improve GPS corrections
  • Internal improvements and bug fixes

2.19.4

March 18th, 2025
  • Improved Velocity Estimate: Velocity calculations have been refined to provide more accurate measurements
  • Upgraded UI Communication Protocol: Communication between the flight controller and the UI has been optimized to improve reliability
  • Refined RPM Limiting During Retraction: The RPM limiting during retraction has been improved. Operators can now simply reduce the throttle to the matching RPM limit instead of needing to fully return the throttle to neutral
  • Enhanced Foil and Rake Assist During Retraction: Improvements have been made to the foil and rake assist during retraction
  • Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole

2.19.2

March 5th, 2025
  • Improved Velocity Estimate: Velocity calculations have been refined to provide more accurate measurements
  • Upgraded UI Communication Protocol: Communication between the flight controller and the UI has been optimized to improve reliability
  • Refined RPM Limiting During Retraction: The RPM limiting during retraction has been improved. Operators can now simply reduce the throttle to the matching RPM limit instead of needing to fully return the throttle to neutral
  • Enhanced Foil and Rake Assist During Retraction: Improvements have been made to the foil and rake assist during retraction
  • Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole

2.19.1

February 18th, 2025
  • Improved Velocity Estimate: Velocity calculations have been refined to provide more accurate measurements
  • Upgraded UI Communication Protocol: Communication between the flight controller and the UI has been optimized to improve reliability
  • Refined RPM Limiting During Retraction: The RPM limiting during retraction has been improved. Operators can now simply reduce the throttle to the matching RPM limit instead of needing to fully return the throttle to neutral
  • Enhanced Foil and Rake Assist During Retraction: Improvements have been made to the foil and rake assist during retraction
  • Retraction: Resolved an issue where the system would not lock when the magnet was broken. Now, the system will lock if the retraction motor encoder indicates that the strut is positioned at the lockpin hole