I have a small boat with starlink and a linux computer on it.
I have setup reverse ssh so I can connect to a local server
at a fixed IP and end up on the computer on the boat.


There is open source auto-pilot software that runs on Linux,
like PyPilot / OpenCPN / Signal K.

I am going to buy a brand new Yamaha HARMO which has NMEA 2000 for this boat.
I want some Linux autopilot control it.
What is the cheapest reliable way to do this?