Hi @gademetriou -
Sorry for the frustrations! ArduSub is well setup to pass button pushes to servo channels, but things are a bit trickier with ArduRover. That doesn’t mean it’s not possible!
A Lua script in no way means the thruster has to be on all the time! In this example, the T500 only turns on when the BlueBoat is upside down… it should have what you need to get things working, in terms of software setup information? This guide is also relevant, and there are many ways to approach this - even using QGC (ugh)
Maybe a Lua script could increase the extra throttle when the difference between actual and target heading is less than some value?
It’s worth noting that depending on the drag and configuration of your boat, just adding more thrust may not make it move appreciably faster… A T500 is well suited for pulling hard, like if you were towing a payload, but if just trying to cover ground the nozzle is actually going to add extra drag and slow you down, above about 1 to 1.5 m/s it is quit a penalty! This prop may help - Blue Robotics will have a better version of it available when the M500 launches. Depending on how fast your target speed is, you may need completely different prop design!