Tony is on a cruise of the Mexican coast that started with a sail from San Francisco. The video shows the Pelagic actuator, on the bottom left corner, pointing toward the water, controlling the steering rod on the Cape Horn windvane. If you watch and listen you can faintly hear the motor steering s/v Dolce. Tony opted for this approach to give his vessel an autopilot without adding an expensive and complex below deck mechanism that would have to be modified to steer a rack an pinion system.
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Tony's Comment: We had been motoring with the Pelagic at night. The morning land breeze came in and we switched to sail. As it was light and expected to be short we did not bother to switch to the windvane mode. As I recall, we never even adjusted the Pelagic for the switch.