I’ve read through the wiki, forums and done some research; however please forgive me if I am missing something obvious.
I am having issues getting a small watercraft running Ardu -boat to turn sharply at waypoints in auto mode. The boat starts turning to the next heading when a waypoint is reached, however it is only driving the outer motor forward and not reversing the inboard during what I believe should be pivot turns. This results in the boat accelerating rapidly over a wide arc away from the desired track before the it stops, reverses, and turns more sharply onto the desired heading using both forward and reverse thrust.
The video linked corresponds with the log timestamp 15:31:50.
Does anyone know why it is doing this? Any advice on the subject is appreciated.
The boat itself is a catamaran, 1.1 meters long with a beam of 0.65 meters. RTR weight is approximately 7kg and it is running twin 350W brushless thrusters mounted at the rear for skid steering. Plenty of power available; very responsive to throttle and it is skid steering perfectly when in manual and guided modes.
[.BIN File link: ](https://drive.google.com/file/d/10HjNIiFPbairAdt2mXKmGWy0SVrcHizR/view? usp=sharing )