Instead of buying a $5000 autopilot strong enough to steer the boat directly, buy a cheap $400 self-contained tiller pilot (like the one listed here) and connect it to the vane of the wind vane self-steering. When there is no wind, you can flip it on and it will steer your boat. The wind vane steering gear is still providing the power to steer (which is why you can use the smallest, cheapest tiller pilot you can find) while the tiller pilot is simply providing the signal formerly provided by the wind. Now you can happily motor on autopilot or sail in very light airs that are not strong enough
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