Install a rudder angle indicator. The sending unit is attached to the rudder post and then there is a remote indicator. Garmin is one of many makers.
OR
Knowing how many turns of the helm wheel stop to stop, 1/2 the number of turns should place the rudder at 0 angle. Put a decorative cord on the spoke when the rudder is centered. You just have to remember to count the helm turns.
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Did Noah have a get home-engine?
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