In my application I want the speed to be as fast as possible at all times, right at the limit of the vehicle capability. If I set a cruise speed below the top speed of the boat and give the flight controller authority over the throttle, it will throttle the engine to slow the vehicle at times. This is unacceptable. Experience shows that the fastest lap times are achieved with the throttle wide open at all positions on the course.
If instead I command a cruise speed higher than the vehicle capability, it would continually impose proportional and integral gain error of varying magnitudes. I think this would compromise stability and the ability to stay on path.
Am I correct in my analysis? If so, what way can I set up the flight controller to react to whatever speed the boat happens to achieve at any point in time and still maintain tight control to smoothly hold it on path between waypoints?