...
Poke the variable RADIO_POWER with either "bullet" or "freewave". To lock in the change, poke again with the same value within RADIO_WAIT_TIME seconds (default 120). When locked in, the driver will post "freewave_locked" or "bullet_locked" to RADIO_POWER.
Thrust and Rudder
Positive rudder or offset turns the boat to starboard. check
DESIRED_THRUST can be 0 to 100
ARDUINO_THRUST varies from 0 to 1000.
ARDUINO_RUDDER is an indication of the set point only, not the current position.
List of Configuration Settings and Variables
...