Autopilot for my sit-on-top fishing kayak. Designed, modeled, and printed an assembly which attaches to the rudder rod. Moves the rod via a stepper motor connec

Autopilot for my sit-on-top fishing kayak. Designed, modeled, and printed an assembly which attaches to the rudder rod. Moves the rod via a stepper motor connected to a Teensy 4.0 which gets NMEA 2000 messages from a Garmin heading sensor and a Garmin fish finder/chartplotter. Uses PID control to maintain any course I set on the chartplotter, using the cross-track error and heading. I’ve had it out on the water a few times now and it works great. Also put together an iOS app that communicates with the assembly via BLE so I can modify the PID gains as needed depending on conditions. There was a bit of noise to the sonar transducer since the stepper motor was so noisy, but I mostly eliminated it by routing the motor wires through liquid-tight flexible electrical conduit, connecting the conduit to ground.