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Nema 2000 DIY autopilot

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Hello all!
Union pacific here!
I have setup a nmea 2000 network, and want to build an autopilot.
Why build it? because I scored a nmea 2000 airmar heading sensor for $150, and I have a liner drive installed for my alpha 2000.
I also have wind, and a 10hz gps on the nmea 2000 bus.
I just want a computer that will interface with my heading sensor, and drive the liner autopilot. I need something smarter then my alpha, that can hold a wind course and will not try to steer everytime the boat rolls.
I notice the raymarine ACU-200 connects by NMEA 2000, where the Garmin unit connects thru the heading sensor.....
Any input or ideas would be great!