Skid Steering(One wheel Forward rotate and another Reverse Rotate))

How to do the skid steering mentioned above in Motor Driver L298N with Pixhawk and in autonomus with RPM 300 Motors

Coincidentally jazzl0ver provided some instructions just yesterday GitHub - jazzl0ver/ardupilot-rover-l298n: How to setup Ardupilot based Rover with L298N motor driver to control with reverse simple DC brushed motors