Setting individual motors on boat for bathymetric mapping

I am building a boat trimaran where i have 6 air propeller motors, two of them are heading opposite direction so they could run when i need to turn, but i am not able to set the frame corectly or setup motors this way. Is there possibility to set this up or code it that way?

schema lodicky a motorku

This is very overcomplicated, props can run fwd and reverse so there is no need to have two backward facing props, and six in total is not how its normally done, in general you just use two bidirectional props and set for differential thrust steering.
Here’s an example of differntial thrust cat

Unfortunately, I only have brushless motors available, which are capable of rotating in only one direction.

Look at your ESC settings. That’s where you set if a motor has forward, reverse or both.