Not sure where to post this so lets start here. I have a new i pilot with "Advanced" auto pilot. Last week at Alamo, my partner said he didn't like the new motor. Every so often it would make a drastic adjustment and sometime tangle our lines. After some thought,,, I concluded that because the Advanced pilot sets GPS points on the track to keep you on a straighter line,, it needs to adjust every now and then to get back on that line. After I changed to standard autopilot (hold autopilot button down for 3 seconds. Circle goes away.) our problems were solved. Hope this helps.