[DG] [DG11] Autohelm 3000 - control box beeping constantly

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I have an old autohelm 3000 wheel controlled autopilot (square black control box - no displays - built in gyro) on my sailing boat. The control box has started beeping as soon as I power it up (same signal as our of course, but just all the time).

I checked all connections etc.

I cannot afford a new

I either need to repair or to replace the control box. Can anyone help with a electronic diagram of the board?

Also if anyone could tell me if a control box for the tiller version autohelm 2000 (looks similar) could do the trick - or any of the later versions like 4000. Thanks in advance.