I am using havyard ship from asv-wave-sim repo created by @rhys to simulate the ship in gazebo harmonic and try to move it with ardurover. I am trying to tune the pid parameters of the throttle and steering controllers, and it is kinda difficult for me find the pid parameters to make it follow a given trajectory. It would be very much helpful for me if anyone have the pid parameters tuned for havyard ship and could share it here.