Problems using both engines for driving

ArduRover ArduBoat
1

Hello

I have a problem regarding to electric outboard engines that control a 4 meter long boat. When it is driving forward, it shifts using the one engine to using the other, not both simultaneously. Is it possible to fix this (a parameter)?
Another question is when it should turn sharply using one engine to reverse and the other to drive forward, instead one engine has full speed forward and the other has slighly less power forward. Is this also something I can change with a parameter?

2

This is not the normal skid steering behaviour. You should upload a dataflash log, this makes it easier to spot any errors in setup, instead of just guessing.