had the same symptoms when the drive brushes
crapped out, but it was on their HLD 2000L drive, not the Octopus. I'd try to find a spare set of brushes
1. Run the rudder
back and forth with manual AP at anchor
, and see if the rudder
position follows smoothly . Check current
consumption--should be 2-3 amps, and voltage at the AP terminal should be over 12v. If the position is twitchy around the zero rudder position, the RFU needs replacing, but you can use it for a while if you rotate the RF300 base 10-15 degrees and recalibrate.
2. Under sail, drive the boat yourself--does the helm
feel heavy?? Then put AP on and check current
consumption--should be no more than 5-7 amps in the peaks. Your rudder system may be starting to seize up.