Raymarine
I have a Catalina 30 MKII that is a 1990. I single hand most of the time and when I am not single handing I don't have a crew who knows much about sailing. I have a Raymarine S1 Autopilot. It was a job to put in because of the rudder sensor but I love the unit. I was able to sail my boat, the other day, upwind in 15 knots of wind, gusts to 20, and waves 3-4 feet and keep the boat under the autohelm. It worked great. I spend a lot of time with the boat on autopilot because of the arrangement that I have. No qualms.The new unit that Raymarine is coming out with doesn't have a rudder sensor. That may be a much easier unit to install but I don't know anything about the new unit. If you are interested in the S1 I can show you the modifications that I had to make to the rudder quadrant housing to get the rudder sensor in there (not sure if the Catalina 28 is similar to the 30 in the rudder set up).