Setting up the ST4000 for your boat is ...
also very important....there are various settings (read your manual)that are software configurable that make a tremendous difference as to how well the autopilot works under different conditions...you may be able to find someone that can give you a starting point of settings for your boat, or you can just start with the defaults, but you will probably be able to make it work better, rudder position indicator or not, with the correct settings. My H33 wandered all over until I got the correct gain and sensitivity setting combination...now the only thing it does not handle well is DDW, but most autopilots don't do well then anyway...this may be obvious to some, but it should always be tried first before using more costly solutions, IMHO.