diff --git a/conversions/autopilot.js b/conversions/autopilot.js
new file mode 100644
index 0000000..8a8cc42
--- /dev/null
+++ b/conversions/autopilot.js
@@ -0,0 +1,240 @@
+
+module.exports = (app, plugin) => {
+  return {
+    conversions: [
+      to129283_xte,
+      to127237_heading_track_control
+    ]
+  }
+}
+
+const to129283_xte = {
+  pgn: 129283,
+  title: 'Cross Track Error (129283',
+  optionKey: 'xte',
+  keys: [
+    'navigation.courseRhumbline.crossTrackError'
+  ],
+  callback: (XTE) => [{
+    pgn: 129283,
+    XTE,
+    "XTE mode": "Autonomous",
+    "Navigation Terminated": "No"
+  }]
+}
+
+/*
+{
+  "PGN": 127237,
+  "Id": "headingTrackControl",
+  "Description": "Heading/Track control",
+  "Complete": false,
+  "Length": 21,
+  "RepeatingFields": 0,
+  "Fields": [
+    {
+      "Order": 1, "Id": "rudderLimitExceeded",
+      "Name": "Rudder Limit Exceeded",
+      "BitLength": 2, "BitOffset": 0, "BitStart": 0, "Signed": false
+    }, {
+      "Order": 2, "Id": "offHeadingLimitExceeded",
+      "Name": "Off-Heading Limit Exceeded",
+      "BitLength": 2, "BitOffset": 2, "BitStart": 2, "Signed": false
+    }, {
+      "Order": 3, "Id": "offTrackLimitExceeded",
+      "Name": "Off-Track Limit Exceeded",
+      "BitLength": 2, "BitOffset": 4, "BitStart": 4, "Signed": false
+    }, {
+      "Order": 4, "Id": "override",
+      "Name": "Override",
+      "BitLength": 2, "BitOffset": 6, "BitStart": 6, "Signed": false
+    }, {
+      "Order": 5, "Id": "steeringMode",
+      "Name": "Steering Mode",
+      "BitLength": 4, "BitOffset": 8, "BitStart": 0, "Signed": false
+    }, {
+      "Order": 6, "Id": "turnMode",
+      "Name": "Turn Mode",
+      "BitLength": 4, "BitOffset": 12, "BitStart": 4, "Signed": false
+    }, {
+      "Order": 7, "Id": "headingReference",
+      "Name": "Heading Reference",
+      "BitLength": 3, "BitOffset": 16, "BitStart": 0, "Signed": false
+    }, {
+      "Order": 8, "Id": "reserved",
+      "Name": "Reserved",
+      "BitLength": 3, "BitOffset": 19, "BitStart": 3,
+      "Type": "Binary data", "Signed": false
+    }, {
+      "Order": 9, "Id": "commandedRudderDirection",
+      "Name": "Commanded Rudder Direction",
+      "BitLength": 2, "BitOffset": 22, "BitStart": 6, "Signed": false
+    }, {
+      "Order": 10, "Id": "commandedRudderAngle",
+      "Name": "Commanded Rudder Angle",
+      "BitLength": 16, "BitOffset": 24, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": true
+    }, {
+      "Order": 11, "Id": "headingToSteerCourse",
+      "Name": "Heading-To-Steer (Course)",
+      "BitLength": 16, "BitOffset": 40, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 12, "Id": "track",
+      "Name": "Track",
+      "BitLength": 16, "BitOffset": 56, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 13, "Id": "rudderLimit",
+      "Name": "Rudder Limit",
+      "BitLength": 16, "BitOffset": 72, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 14, "Id": "offHeadingLimit",
+      "Name": "Off-Heading Limit",
+      "BitLength": 16, "BitOffset": 88, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 15, "Id": "radiusOfTurnOrder",
+      "Name": "Radius of Turn Order",
+      "BitLength": 16, "BitOffset": 104, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": true
+    }, {
+      "Order": 16, "Id": "rateOfTurnOrder",
+      "Name": "Rate of Turn Order",
+      "BitLength": 16, "BitOffset": 120, "BitStart": 0,
+      "Units": "rad/s", "Resolution": 3.125e-05, "Signed": true
+    }, {
+      "Order": 17, "Id": "offTrackLimit",
+      "Name": "Off-Track Limit",
+      "BitLength": 16, "BitOffset": 136, "BitStart": 0,
+      "Units": "m", "Signed": true
+    }, {
+      "Order": 18, "Id": "vesselHeading",
+      "Name": "Vessel Heading",
+      "BitLength": 16, "BitOffset": 152, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }]
+} 
+*/
+const to127237_heading_track_control = {
+  pgn: 127237,
+  title: 'Heading/Track control (127237)',
+  optionKey: 'trackcontrol',
+  keys: [
+    'steering.autopilot.target.headingTrue',
+    'navigation.courseRhumbline.bearingToDestinationTrue',
+    'navigation.courseRhumbline.bearingOriginToDestinationTrue'
+  ],
+  callback: (steerToTrue, bearingToDest, bearingOriginToDest) => {
+    return [{
+      pgn: 127237,
+      "Course/Bearing reference": 0,
+      "Heading-To-Steer (Course)": steerToTrue,
+      "Bearing, Position to Destination Waypoint": bearingToDest,
+      "Bearing, Origin to Destination Waypoint": bearingOriginToDest
+    }]
+  }
+}
+
+/*
+  "PGN": 129284,
+  "Id": "navigationData",
+  "Description": "Navigation Data",
+  "Complete": true,
+  "Length": 34,
+  "RepeatingFields": 0,
+  "Fields": [
+    {
+      "Order": 1, "Id": "sid",
+      "Name": "SID",
+      "BitLength": 8, "BitOffset": 0, "BitStart": 0, "Signed": false
+    }, {
+      "Order": 2, "Id": "distanceToWaypoint",
+      "Name": "Distance to Waypoint",
+      "BitLength": 32, "BitOffset": 8, "BitStart": 0,
+      "Units": "m", "Resolution": "0.01", "Signed": false
+    }, {
+      "Order": 3, "Id": "courseBearingReference",
+      "Name": "Course/Bearing reference",
+      "BitLength": 2, "BitOffset": 40, "BitStart": 0,
+      "Type": "Lookup table", "Signed": false,
+      "EnumValues": [
+        { "name": "True", "value": "0" },
+        { "name": "Magnetic", "value": "1" }]
+    }, {
+      "Order": 4, "Id": "perpendicularCrossed",
+      "Name": "Perpendicular Crossed",
+      "BitLength": 2, "BitOffset": 42, "BitStart": 2,
+      "Type": "Lookup table", "Signed": false,
+      "EnumValues": [
+        { "name": "No", "value": "0" },
+        { "name": "Yes", "value": "1" }]
+    }, {
+      "Order": 5, "Id": "arrivalCircleEntered",
+      "Name": "Arrival Circle Entered",
+      "BitLength": 2, "BitOffset": 44, "BitStart": 4,
+      "Type": "Lookup table", "Signed": false,
+      "EnumValues": [
+        { "name": "No", "value": "0" },
+        { "name": "Yes", "value": "1" }]
+    }, {
+      "Order": 6, "Id": "calculationType",
+      "Name": "Calculation Type",
+      "BitLength": 2, "BitOffset": 46, "BitStart": 6,
+      "Type": "Lookup table", "Signed": false,
+      "EnumValues": [
+        { "name": "Great Circle", "value": "0" },
+        { "name": "Rhumb Line", "value": "1" }]
+    }, {
+      "Order": 7, "Id": "etaTime",
+      "Name": "ETA Time",
+      "Description": "Seconds since midnight",
+      "BitLength": 32, "BitOffset": 48, "BitStart": 0,
+      "Units": "s",
+      "Type": "Time", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 8, "Id": "etaDate",
+      "Name": "ETA Date",
+      "Description": "Days since January 1, 1970",
+      "BitLength": 16, "BitOffset": 80, "BitStart": 0,
+      "Units": "days",
+      "Type": "Date", "Resolution": 1, "Signed": false
+    }, {
+      "Order": 9, "Id": "bearingOriginToDestinationWaypoint",
+      "Name": "Bearing, Origin to Destination Waypoint",
+      "BitLength": 16, "BitOffset": 96, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 10, "Id": "bearingPositionToDestinationWaypoint",
+      "Name": "Bearing, Position to Destination Waypoint",
+      "BitLength": 16, "BitOffset": 112, "BitStart": 0,
+      "Units": "rad", "Resolution": "0.0001", "Signed": false
+    }, {
+      "Order": 11, "Id": "originWaypointNumber",
+      "Name": "Origin Waypoint Number",
+      "BitLength": 32, "BitOffset": 128, "BitStart": 0, "Signed": false
+    }, {
+      "Order": 12, "Id": "destinationWaypointNumber",
+      "Name": "Destination Waypoint Number",
+      "BitLength": 32, "BitOffset": 160, "BitStart": 0, "Signed": false
+    }, {
+      "Order": 13, "Id": "destinationLatitude",
+      "Name": "Destination Latitude",
+      "BitLength": 32, "BitOffset": 192, "BitStart": 0,
+      "Units": "deg",
+      "Type": "Latitude", "Resolution": "0.0000001", "Signed": true
+    }, {
+      "Order": 14, "Id": "destinationLongitude",
+      "Name": "Destination Longitude",
+      "BitLength": 32, "BitOffset": 224, "BitStart": 0,
+      "Units": "deg",
+      "Type": "Longitude", "Resolution": "0.0000001", "Signed": true
+    }, {
+      "Order": 15, "Id": "waypointClosingVelocity",
+      "Name": "Waypoint Closing Velocity",
+      "BitLength": 16, "BitOffset": 256, "BitStart": 0,
+      "Units": "m/s", "Resolution": "0.01", "Signed": true
+    }]
+}
+*/
\ No newline at end of file