Hi I have a boat and the rudder servo makes a high pitched noise and turns one way but not the other also I have a prearm error that says check steering and throttle config but I cannot figure it out 
please help.
Not wired correctly? the prearm warning might be a separate issue
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Can you check the servo from another pwm source like a spare reciever or servo tester? Or test the fc output with another servo which is not mounted or connected to any control surface
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Servo is fine and doing it with a different servo has same results.
You have to show us the error of pre-arm but maybe your joystick is not set correctly and sends an order immediately.
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It says warn pre arm check steering and throttle config
did you set frame_class to boat ? do you use a joystick ? if yes did you calibrate it ?
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Frame class is set to boat and I calibrated my joystick
well you can try qgroundcontrol to calibrate motors and joystick, also you can check motors using qgroundcontrol it works great
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So the servo drives all the way to one end and buzzes against its rotation limit? Its not getting 1500us!!