I have a rc catamaran with reverse bucket equipped vectored jets. Each hull also has a bow and stern thruster. I want to do a waypoint mission to take pictures with a fixed camera pointing straight down. The path will have the boat go in lines back and forth over a body of water. However, at the end of each length, the boat should decelerate to a stop, use the thrusters to turn to point to the next waypoint, and continue. At speeds greater than a set amount, the thrusters should not be used. I’m mostly looking to see which functions are supported. Also, is position/heading holding available with this configuration?