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Autopilot remote hack
I finally found a pinout today to control my ancient Autohelm 4000 by a relay board. I'm sure wired remotes of other autopilots could also be reverse engineered.

If controlling with a wireless remote isn't enough fun, I'm considering tying it into openplotter via relays, since I have the hardware for that on hand.

I expect it's a quantum leap from simply controlling GPIO to pulse a relay to sailing to a waypoint, correcting a cross track error, or steering an apparent wind course based by pulsing +/- 1 or 10 degrees, but one can dream!
A quick Google hinted that the Autohelm 4000 supports NMEA 0183 input, is that correct?
All you need then is an USB-NMEA0183 dongle and OpenCPN can control your AP?
Arne :-)    
S/Y Tiarora
The Autohelm ST4000 supports nmea 0183, however the older Autohelm 4000 units (before Seatalk) did not.

I don't suppose there is a way to send a waypoint to a GPS USB module and have it spit back the XTE. Then tinker with node red to make course corrections.

(I do have a small Garmin chartplotter but that would be cheating).

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