Ardurover on sailing yacht

I want to use ardurover as autopilot on a sailing yacht.
It only has to maintain the heading it has when turned on.
As I understand the purple cube has a built in compass and a 9axis gyro?
As output I would need to connect an electric motor controller, for steering the rudder.
For input I would need a standby button, a set course button and buttons for adjusting heading to left or right (or maybe a rotating knob)

Anyone here knows if this has been done before or can tell me how to set this up?

Read the Code of Conduct regarding manned craft:
Ardupilot code of conduct

This might be more suitable for what you’re trying to achieve: https://pypilot.org/

Pypilot quit producing recently, so that’s why I’m here!

Nothing for you here.

Very helpful, thx very much