Rover Bait boat Brakes

HI there

can i ask if there is a way to initiate Brakes (reverse props to stop) at waypoints with my baitboat build…
my overshoot issues seem to be because of the momentum of the boat even at its lowest speed … my thoughts are that if the boat initiated a reverse command for a second or two once the waypoint is reached then it would help with the overshoot issue ,

hope i have explained this correctly

this is the parameter to enable reversing to brake. you might also need to check your throttle tuning.

https://ardupilot.org/rover/docs/parameters.html#atc-brake-speed-control-brake-enable-disable