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rudder position after hand steering
#1
I am using the wheel drive from an Autohelm 4000. There is a little lever to engage and disengage the motor for hand steering. It merely snugs up or loosens the belt. I assume that the old autopilot never knew where the rudder was except when at the stop from feedback from the straining motor. There is no sensor or end switches.

If I calibrate the rudder in pypilot, and then disengage to hand steer and then reengage, the autopilot won't be aware of where it is anyway, right? 
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#2
It will only be aware of the rudder position if you have a rudder feedback sensor. In this case, it won't matter if you are hand steering or not.
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#3
Is that a requirement or will the controller just work fine in that state of ignorance, as the Autohelm did?
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#4
It works fine. Try it for yourself. If you turn the rudder a lot and engage the autopilot, it will take time to correct but this would be making it difficult on the autopilot on purpose.
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