I am looking into the new BlueOS and the Navigator “hat” for our custom built sub.
We are presently using Ardusub with companion on RasPI 3b and mRo.
Our hardware requires a custom build.
I’m not certain what you mean by this - BlueOS is the software that runs on the onboard computer, and enables communication between the topside computer and the autopilot board, and ArduSub is the firmware that runs on the autopilot board - their build procedures are unrelated.