This is my 1st attempt to build a boat. I have played quadcopter for sometime. So I try to build it using parts I already have. Thanks to great versatility of Ardupilot, it is not very difficult.
fC: matek h743 mini
esc: hakrc 4in1 esc (BLHELI_S firmware)
motors: geprc 4500kv brushless motor
I found 2 plastic bottles from recycle bin as boat body. I config esc and set motor direction to bi-directional. Follow rover wiki with following parameters change
FRAME_CLASS = 2
SERVO1_FUNCTION = 73
SERVO3_FUNCTION = 74
MOT_PWM_TYPE = 7
SERVO_BLH_3DMASK = 5 (motor to spin in either direction)
SERVO_BLH_MASK = 5
MOT_STR_THR_MIX = 0.3 (slow down steering)
RCMAP_THROTTLE = 2 (My walkera devo-10 operated in mode 2, so I swap pitch and throttle)
RCMAP_PITCH = 3
