I am looking to incorporate the T200 thrusters and Ping Sonar on a body board to do a single beam survey of a small freshwater pond. I intend on using Ardurover and the Pixhawk 2.4.6 as the mission planner/autopilot. My question is- would it be better to use a Raspberry Pi or Arduino Mega for this application? Which is the better/safer option when working with these voltages? Which one would there be more online support for integrating these components together for a novice marine roboticist?