I have a kontiki boat which is used to take a long line out to sea. I have fitted two thrusters for steering which I want to gps control with the pixhawk.
I have set up two motors and pixhawk on a board for testing and have managed to get it to manually skid steer.
One of the problems in setting up the PID is that the kontiki boat has a drive motor which pulls the boat foward at about 1000 metres in 15 minutes, approx. 60mtr. per min.
I am not sure how to go about this, I just want the boat to go in a straight line to a way point at about 2000mtrs out at sea. The boat has a timer fitted which can be set to switch all power to motors and control gear at a predetermined time.
e.g. 15 minutes. The boat has the long line still attached and is hauled back after a time.
Any help would be greatly appreciated.