I have been using ArduRover on my Catamaran. And love it. My “boat” is 1 meter long and 600mm wide and has rudder + two air motors 600 mm apart. BlHeli32 with reverse.
Ground steering for the rudders and Throttle L and R for the props. It works really great and I can turn still-standing and with small radious at normal speed.
Making a “normal” boat with two propellers and two rudders. With this configuration I cannot use Throttle L and R as the motor speed differs far to much when using the rudders.
What I wish is som gain control to control how much the motor speed varies when turning.
It is just a wish. I have the motors running as Throttle so they have the same speed
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