Yes the I-pilots are the way to go. I have a 19’ trophy WA with a 4.3 I/O and mounter a 112 pound thrust 71” shaft on it and can get around 6 hours on a full charge. I have 2 banks of batteries on boat so I can troll up to 12 hours before needing to charge. They are costly but they really free up the person controlling the boat and lets everyone enjoy the fishing. Mine seems to not hold a heading 100 % but I can live with that