There are plenty of Winches to choose from but to keep it simple I'm going to recommend what I already know works with no issues.
I use an RMG available from SmartWinch UK. http://www.smartwinchuk.co.uk/winches.html
I have had no issues with My current RMG winch, its due a service and well worth it.
I would recommend the self tentioning drum.
I've chosen a Power HD 20Kg servo for the rudder, I use a 6.6 volts LiFe battery so this is the ideal match.
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