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this is a canbus-connected marine autopilot, composed of 3 main parts:
These parts are built around a pic18f26j50, for its low power and native can support. The CAN protocol is based on J1939 and reuses NMEA2000 PGNs when possible.
There is also wxpilot, a wxwidget/socketcan utility which allows to show and change some of the autopilot's parameters from a unix computer (see my marine_charplotter repository)
The display unit can also decode and display navigation PGNs sent by my nmea2000_pi OpenCPN plugin.
I use this hardware for sailing since several years now
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