Building an unmanned surface vessel, need assistance in the same

Hello, I’m a beginner with no background of coding. I need help in developing a USV.
I have the following components-
T200 thrusters x 2
Basic ESC x 2
Pixhawk 2.4.8
RaspPi 4
Telemetry system

I kindly request the members of this forum to help me out in this.

Thank you