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Learning pilot Mode?
It ‘learning’ supposed to be working? 
There a lot of interesting  code inside ;-)  (I did hot had time to read it yet) 
What it is doing comparing to ‘basic’? 
Is the idea to make it self leaning?  Or teach user?
The learning pilot is in development. The current idea is to use future data to train the autopilot as it sails. It uses inputs from the inertial and other sensors over time to train a network to compute the best rudder movement.

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