Pypilot with ST4000 autohelm

[AndyV]

Hi all

I'm using a ST4000 on my sailboat and it works acceptable. However, I would love to be able to use the features of track following and wind vane control.

The ST4000 has an NMEA+ and NMEA- input to receive data to make the above features work.

Questions:
How do I hook up my Raspberry Pi (or ESP32) to the NMEA input on the Raymarine controller? Do I just use the tx and rx pins? And how do I make Openplotter recognize the pilot? Also, is it possible to use an ESP32 as I would avoid all the wirering..?

Kind Regards,
Peter

Hey Peter! Curious how you made out with all of this? I've read the thread and when it starts getting into electrical specifics I'm lost.

I have Pican-M hat (with NMEA0183) for the pi, and interested in doing what you've described. If I can get that working then ideally I'd like to have pypilot drive the St4000 motor itself (the idea of using the IMU and possible machine learning for optimal steering intrigues me as I've done some ML in the past and see it working well).