Hello, I spent hours on my tiller helm ( autohelm200) resetting etc and it still gave up occasionally or went into slalom mode. Eventually I used "contact cleaner on all the wires and connections and opened up the case and very carefull dismantled the unit . opened the touch buttons and cleaned them, reassembled with silicone grease . wow it worked a treat. Phew saved lots but took 10 to 15 hours patient work.