Hi @huang137 -
Welcome to the forums!
Yes, that’s definitely possible! For now, to achieve you’d need to modify the ArduSub firmware and then compile it yourself with the thruster matrix adjusted to match your layout. You then would flash this custom firmware, and selet the custom frame layout.
That’s fairly straightforward to do using the vscode extension in BlueOS, as the required dependencies are all present! It may of course be a bit faster to compile on your computer vs. the Raspberry Pi. This is a frequently discussed topic! This user-created tool may be helpful?