Has anyone ever installed a below deck autopilot on a Catalina 320 (circa 2002)? I would really rather have a below deck autopilot for a couples of reasons. 1) it is out of sight and quieter when operating, and 2) it can act as a backup tiller since it's connected directly to the rudder shaft. I called the Catalina factory install guys and they said I would have to add some significant "structure" somewhere underneath to take the loading from the actuator. Any comments?