My original tillerpilot was a tp20 and it crapped out after 8 years of service, I ordered a tp22 and will install it when the weather gets a bit warmer, all hardware and wiring comes with it, so follow the instructions. I only use mine while motoring and putting up the main sail as it takes a lot of power to operate the tiller under sail. I installed my original tp about 6-8" forward of the aft edge of the starboard seat hatch and then line up the extension arm over to the tiller to place the engagement pin. If you are using it and hear a beeping sound, the battery power supply is getting low and it will turn off, even if motoring - so keep your batteries charged.
