Is it possible to set up emergency return backup motors in Ardupilot Rover firmware?

[geofrancis ([𝙂𝙚𝙤])]

I done some experimenting with backup propulsion and steering systems, the best solution i found was either a water pump or an air propeller

Omni motor sailing boat

the auxiliary propulsion pump jets directly onto the rudder, its there mostly as a backup. [Bi directional auxiliary water jet propulsion thruster]