Frame for ArduRover for boat ?!

I’m using ArduRover on the Navio 2 to control a boat and I can’t figure out the best frame and configuration to control it.

My boat has two trusters (left and right), no force direction servo.

What is your configuration for a boat like that ?


Configure for Skid Steer.

Thanks !
So if I understand correctly, the roll is used as yaw ?
Also during a test on a lake, the left and right direction were switched for a brief moment. Did it happen to you too ? Is it related to the gps and imu ?