I bought a Raymarine S1 Wheel Pilot. It is SUPPOSED to be EASY to INSTALL....it isn't!!!!! The directions aren't too hot, and the rudder sensor is really fun to try to mount. It would be easier if you had a boat that had a huge rudder box (I don't think that there are many like this out there). I ended up taking my boat to a mechanic to have it installed. I attempted to talk to someone from Raymarine (they are impossible to contact). I am not happy with the customer service from them. Heck...I just bought a $1200 unit and their help line is a joke! You end up leaving a message on an answering machine to have someone call you days later! Anyway, the rudder sensor it the really fun thing to install. The diagram and instructions show that you install the sensor to the tiller post....Hold up.....a tiller post on a wheel steered boat? Mine doesn't have a configuration like that. I ended up mounting the bracket onto the wheel where my cable from the pedistal attaches to. It is an interesting way to fix the problem, but I think that the mechanic and I finally got it. We ended up cutting a 5 inch by 1/2 inch place in the rudder box to get enough room to run the piece from the sensor to the bracket on the cable wheel. I am not sure how the unit works as it is still being installed. I am sure that it will work great when it is done. I guess I will leave you with this....If you want an autohelm get a different unit unless you are extremely mechanically inclined or you know someone who is really good at installing really hard componets. Other than that....if you get the S1 and you need it installed, I can tell you that Dahlgren Marine Works now has some experience with this devil (if you have a Catalina 30 they will know what to do). If anyone wants to try to do it by themselves, feel free to ask me about the setup on the rudder sensor and be prepaired to cut some fiberglass!