Work with boat for steering and throttle outs configuration

Hi Ardupilot Community! I want to make correct logic for control of my boat with a motor, which can change steering. For now just one motor on the bag of a boat with a changeable steering vector.
I found part of the code for control motors logic, as a reference I saw, a catamaran with 2 motors has been used. All logic was found in AP_motorsUGV::output regular. My question is about how to change logic, or a flag, which has to be set for one steering vector, and maybe some models, for checking the kinematic model. Also, there is one problem with checking the angle of steer for motor, I saw part with an actuators, and for now, I don’t know how to connect it for checking control, is there some prepared logic for calibration in such vectorized model.