Auto Tiller

Auto Tiller is a boat autopilot app for tiller-steered vessels. It connects to an ESP32-S3 controller board over Bluetooth Low Energy. The controller reads heading from an ICM-20948 IMU and position from a SAM-M8Q GPS module, and drives a linear actuator attached to the tiller.

Modes:
- Manual: drag the steering handle on the compass screen and press Engage. The actuator moves the tiller to the set angle.
- Auto: set a GPS waypoint on the map. The system steers to hold course toward it.

The app displays real-time heading, GPS coordinates, steering angle, and course error. A map view shows position and waypoints.

Map tiles use OpenStreetMap and require internet access.