As an electrical engineer, I'm intrigued. Do you actually control the angle of the foils during travel?

Is it to maintain a set height or change height too. I know that too high, and the boat becomes unstable.

I know that retracting the foils is a simple thing, relatively speaking.

However, if you are actually controlling the foil angle, isn't the technology available for decades? I mean there are cooling water pumps that change the impeller vane angles during operation at 400 - 700 RPM, there are helicopter blades that change angles, ship propellers can also change angle during operation, etc. There are many examples.

What technical problem have you specifically overcome in this case?