4-thruster vectored motion

I want to make a floating box with vectored thrust from 4 thrusters for holding a GPS position. My ROV will descend down from the box. I don’t want to use “plug and play” hardware, I just want to program everything in Arduino C using an Uno. How complex would the programming be to hold GPS position using vectored thrust? I have so-so programming skills.




The programming part of this is relatively straightforward since you’ve already got experience with control loops. The harder part is the math to convert the GPS coordinates into a positional error to feed into that control loop, but I’m confident you could handle it. There are lots of resources online for those types of calculations.