I do the same. Minn Kota Terrova 72" shaft with Ipilot. I use it as autopilot and main motor as primary thrust keeping it pointed straight. It works great in up to 2'ers or slightly better. Main motor is a 115 yamaha. I installed the VTS switch so I can adjust speed in 50 rpm intervals up to a certain point. Above that point I can still adjust with the main throttle and some more out of the trolling motor. Aside from the autopilot it allows me to use it as a straight trolling motor if I'm not deep water trolling.