Further Development of Rover Sailboat Support

For this GSoC project I propose to expand rover's sailboat functionality, allowing it to move from 'that's cool' to something that can do useful work. I hope once this project is complete rover based sailboats will be the ideal tool for long endurance, long range missions on large pieces of water, be it for mapping large areas or taking measurements at specific locations. The new code will result in a robust controller capable of moving efficiently from A to B in a wide range of wind speeds and sea states.