AutoPilot is one of those things that make the trip much more enjoyable, even on a small lake. It may seem crazy to be siting with your hand inches from the tiller, and still running the AP, but that is what I do. Then just sit and enjoy the ride. Someone asked if it is worth the bother on a small lake where you tack every 10 minutes, but the reality is, you just hit the tack buttons, which allows you to only work the sails, so your time on the tiller is only a couple of seconds to hit the buttons.