I have a ipilot and now the link I don't spider rig yet so this may not be applicable but when I am in route to some where and want to anchor I shut it down and then when almost stopped and then anchor so it doesn't try to turn boat around to get back to the spot it was at. It requires a little planning first. If you are hung up this doesn't help much, but best to kick it off and go back and retrieve hang up , not perfect but does a lot of things that are helpful.