You should have received a message/email from me in the email acct on diy drones.
I'm in a own project called RabdakPilot: build a boat autopilot and trying learn from others. My project is in advanced status and near to heavy water tests. If you want know more about, just google rabadakpilot and watch my project.
Hope share ideas about.
Warm regards from Portugal
PS. this is a PDF file with the prototype