USR1 has been modified to: move all thrusters to the center of the WTE, the addition of legs, and replacing the internal compass with a rate gyro. I call it USR1 model A.
The rate gyro for yaw control is working well in the swimming pool. We’ll see how it goes at sea next week.
There is no EMI interference to the rate gyro, as there was for the compass. Vertical thruster torque yaw is no longer existent. I am using a Kp of 5 and a Kd of 3.
The legs are aluminum and bouncy enough to absorb shock from a hard bottoming.
Thanks to everyone that has offered advice and suggestions. I listen to and study every one of them.