We describe the upgrades and modifications we made to a 1990 Catalina 22 for the owners planned cruise to the Bahamas. Here is more info on The Steersman self-steering system:
https://www.facebook.com/TheSteersman/
https://www.steersman.net/products/helm-buddy-ii/
http://www.steersman.net/wp-content/uploads/2016/11/PBO-Steersman-article-Aug-14.pdf