I've had my Hunter 40 1986 since 1991; have always had the ST4000 autopilot but have gotten very disenchanted with this gizmo; do not interface with my navigation instruments, just want the thing to stay on the heading I set; don't know if the displacement plus generator, 70 gal diesel, 175 gal of water and all my stuff = 20,000 lb has put me over the limit but performance is dismal; someone rec the ST7000; this would have to be hooked to the quadrant, wheel drive is not possible; open to other brands, configurations; price is not a consideration; I do a lot of solo cruises and autopilot is a must. has anybody got a good system? Love my boat.