Cannot find AP_MotorUGV file in the AP_Motors folder of ArduPilot

ArduRover
1

I am working on a project with a small USV (Unmanned Surface Vehicle) that has 2 propellers, and I am trying to customize ArduPilot to control the motors. However, I cannot find the AP_MotorUGV file in the AP_Motors folder, even though I believe this file is necessary for controlling the motors for my USV.
I have updated the source code from GitHub and found files such as AP_MotorsSingle.cpp and AP_MotorsMatrix.cpp, but I’m not sure if they are suitable for my 2-propeller system.
The version of ArduPilot I am using is the latest from the master branch.

Question: Is there any file that replaces AP_MotorUGV in ArduPilot that I can use to control the motors for my 2-propeller USV?

Steps Taken: Updated the source code and searched for files in the AP_Motors folder.

2

I assume your USV is a boat with to motors, correct?
For most kind of rover no modification of the source code is necessary.
So, it might be good to describe your problem little more.

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3

Yes, my boat has 2 motors and I am not sure which part of the ardupilot source code I should read to modify it. What I am interested in is controlling it with missionplanner

4

I don’t think you need any modification at all. Rather, describe exactly what you think is missing, and we can probably fill in the blanks with existing features and behavior.

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