@luisgamez Here was the Twitter post with the 8-Thruster design that Tony built:
I’ve driven one and it works very well in Stabilize and Depth Hold modes (Manual is about the same). In addition to the heavier lifting capability, you have the ability to lock the ROV’s pitch and have it hold there. Obviously it won’t do barrel roll like the BlueROV1, but it should work to 20-30 degrees. The 8-Thruster design also works better for pulling the tether around and keeping the ROV level.
The only drawbacks are that it will eat 2 more of your penetrator holes, you may go through power a bit faster, and you will need to re-ballast for the additional weight.