I’ve just built my first boat based on a bodyboard with skid steering. Very similar to this: https://ardupilot.org/rover/docs/reference-frames-boogieboard-boat.html
In manual it works as expected but when I switch to Loiter mode it behaves ok the first 5-10 seconds and after that it goes crazy and heads out of position at high throttle. I have noticed that when I switch to Loiter the current heading (red line) and Direct to current WP (orange line) lines up in Mission Planner and the boat tries to hold position as expected. But after 5-10 seconds the Direct to current WP shifts 90 degrees and the boat goes crazy.
Since I’m a NOOB regarding this I don’t really know how to troubleshoot this.
Thank you for any help or advice