Steering with 360° Servo


i am planning to build a boat with a steering servo wich is capable of endless rotation. Is there any need for a "mid" position of the servo while driving? Or is the PID (+gyro/accel) enough to determine where to steer?

The Idea is, to rotate the prop 180° to have thrust in the opposite direction, but still be able to use automatic navigation. 

If anyone could give me a brief insight how steering workis in ardurover id be really happy!!

Thank you very much!!

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