Thanks David, i have that manual, but it leaves the actual circuit diagrams blank and just gives block diagrams - so fault finding is going to be tedius as ill have to trace the surface mount boards..... I do have some clues to what is going wrong - probably the gate voltage driver VDBL for the output bridge to the helm motor. The +/- 12V motor drive drops to +/- 2V after a couple of hours use and causes the autopilot to alarm etc,
I currently have a replacement stuck somewhere in the UPS system.