After seeing Cash's excellent build on here I was inspired to actually do some research and make some updates to my proboat tug.

The initial build was done while this model was owned by a friend in 2022. I added deck lighting, interior lighting, working radar, and changed one of the mast lights to a blinking red (not accurate but it looks cool). I'll put the initial build photos here. The radar is a n20 gearbox with a 3d printed housing. Looks chunky but it got the job done.

More photos of the 2026 update to come soon

So I had an idea... famous last words lol

I'm lazy and my attention span is comparable to a cricket on caffeine sometimes so I take several boats with me whenever I go sailing and switch between them. Problem is, when they're sitting they tend to drift with the wind so I have to switch back to drive it back to its parking spot wherever I left it. That leaves me with 2 options: pull the first boat from the water, or set it up with GPS to maintain position lock at the push of a button...

Well I love a challenge. The star of the show is a mini F4 wing flight controller. These are used for drones or UAVs but at $20 plus shipping it's worth a shot. I've flashed it with the Ardurover firmware. Using that, with a GPS module and a few other auxiliary parts the boat should be capable of autonomous waypoint missions or maintaining GPS lock in loiter mode. At least that's in theory. I tested it on a truck and it kinda works but I need to figure out arming and calibration.

My Radiomaster tx16s gives me an input for available flight modes. The plan is to use hold, loiter, auto, smartRTL, and manual modes. SmartRTL allows the boat to return to its original launch point by retracing its steps.

So I started with the new light updates. The mast was all white LEDs originally so I changed out 2 to red (I still need to file them flat) and changed the white between them to a different input line. A rear navigation light, towing light, and worklight were added to the stern side of the funnel. The navigation light is tied to the others on the superstructure, the red and white mast lights will be on according to the control mode along with the red flashing light and towing light. Oh and I need to find the file and reprint the radar housing and top spinny bar

Next up, I need to rethink the interior lights and spotlights on the wheelhouse. The interior light will be tied into the other interior lights and I might put the spotlights on a separate switch. I have a few remote switches I can probably use. Then some detailing

The water pump is a 12v windshield washer pump from amazon tied to an airplane ESC so I can dial up the flow. It worked in testing but now it doesn't want to behave so I'll have to do some diagnostics.

After having several issues with the GPS and compass calibration I shifted to focus on actually getting the lights wired. The mast lights are tied to the same channel that changes the flight mode, so the reds come on while under autonomous control (or when it's supposed to be). When in hold mode, the 2 mast red lights on to indicate a vessel not under command

The rear floodlight is tied in with the deck lights and the nav light is self explanatory. I've had it out a few times in manual mode and I'm really liking how it looks on the water.

The pump has an air leak so it won't draw up water, and sealing it with goop glue resulted in the motor not running so I had to disassemble it again. I'll probably find another pump

The wheelhouse lights aren't connected anymore, I might connect them or leave them as is, the captain wouldn't have any visibility outside if the cabin light was on anyways