How does self-steering on a sailboat work?

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Self-steering gear achieves this by presenting a vane directly into the wind. When the wind acts on either side of this vane, it tips, transferring this action through the mechanism below to either a rudder or a servo pendulum which acts on the main rudder, altering the boat’s course.

A long time ago I studied autopilots hesitantly, many videos explain this… I highlight in this post a presentation that I find excellent.

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