How to change code for kinematic control

Hello, ArduBoat community! I saw A video with the simple use of box boat here:

I want to implement the manual control, but with changing vector of a thruster, like in this:

For now, I can’t understand, I have to change the code, or not. And how to calibrate pixhawk outputs, for the control box boat at first(want to try it with sitl), should I modify the code for that? I would be glad for any help, especially with ArduRove code references. Is it have to be modified and where (Don’t have too much time for debugging), if I want to use 2 vectorized thrusters. Can someone show me the code references?

No need to change the code, just change parameters. And yes, will will need to read the documentation.