Ok in Cairns we sail at Yorkies, generally rough water but no waves, closest caravan park is Lake Placid (10min) which is a very nice spot and a good base for the tourist stuff.
Tinaroo Dam on the tableland (up the hill) has a caravan park and flat choppy water and gusty wind.
Green Island (day trip) has very flat water at low tide but very choppy at high tide and strong wind.
Kurrimine Beach has 2 caravan parks and good flat protected water.
I know Townsville has local crew but I haven't sailed there.
And Alva Beach as Lungs suggested, also has a caravan park. I also haven't sailed there in years.
PM me before you leave and I'll send phone number. Ask advise before doing Green Island and I'll help

If you like flat water go to Burrum Heads, awesome at low tide with great locals, has a couple of caravan parks from memory

Green Island
Burrum Heads