Interface to Chartplotter

I am looking into options for developing an autopilot for a USV. I want to be able to interface the autopilot to a chart-plotter. The chart-plotter would provide steering instructions via NMEA APB string output.

Is ardupilot able to take NMEA autopilot string inputs and convert to RC steering instructions for a servo (i.e. CK design tech SSPS-105 Tone Servo)?

I am a complete newbie to ardupilot so I apologize if I am asking something that has been covered before?