Ted,

I'll throw in what I can remember and someone that knows what they are talking about can straighten it out.

The Autofarm does not use gyros for terrain compensation.  It uses multiple GPS units.  The old original system had 3 GPS units.  The newer systems have 2.  If I remember right, only one is an L1/L2 and that receiver is used for GPS output for the external port.  The problem is that none of the GPS receivers are centered on the tractor.  It has been at least 2 years since I have dealt with an autofarm, but at that time, the position from the unit was the position of the antenna and not the center line of the tractor.  If that has not changed, to use the autofarm for GPS into the Insight, you will have to use a left/right offset in the implement setup of the Insight.  I think that will work if the Insight implement setup is anything like the FMD setup.