strange behaivour

[beholder77]

Looks interesting, which motor controller are you using?

I've ordered two vnh2sp30 on sepparate stores in aliexpress first, but both not worked (it is moved forward, but no reverse. Current sensing works ok)
Then i bought IBT_2 board with BTS7960 chips in local store

It is huge with radiator but works fine in both directions (after slight modification of motor.ino). Current sensing working as well.

My initial setup is Raspberry PI 3B+ with mpu9255 based imu and Arduino Nano for motor controller and rudder sensor (potentiometer already linked to quadrant by PO). 
For the first time i am using one big enclosure for everything (except IMU) and going to place it in cockpit near wheel. But in future i hope to place Raspberry to somewhere in nav vstation.

Month ago i have sailed from eastern side of Japan to South Korea. It is only 600nm but it was like nightmare doing it without autopilot. 
Next month i am going to do next passage -  from Korea to Vladivostok
so, i really crossed my fingers for new autopilot will work and i hope to debug it underway
Also i am going to try AIS reception with SDR USB stick