Yeah, I know, but wouldn't it be great...
I think this is a separate program. It could connect to the autopilot and issue commands to dodge things it sees.
This would be at the limits of processing power of a raspberry pi, if it can even work reliably.
For me, I no longer need to dodge crab pots because of the autopilot. With the wind vane I did, because it can hook on the pendulum oar.