" Yeah, you could run it on Ardumega, as that is the base chip on the ardupilot. The code requires a bit of modification for a standard board, but it will work. In fact, there might already might be a script that is on github that does exactly that. …"

"you should be able to ardupilot and set auto navigation to way points, I think that would satisfy the basic requirement, as it can use the built in program to make course correction based on GPS location. "

"I don't think you understand, if you are going to make a custom set up, you can focus on the specs you want, not exactly what the other product provides. If you are just dropping the bait, you can stick it on a multirotor and drop it, you don't have…"

"how much weight are you towing, do you want it to suspend the bait and have a quick release when a fish takes it, what is your controlling device you want to use, what is your budges if it's not $60,000? It basically sounds like you want somebody to…"

"You know on subs, we used a towed array to for coms. It's basically an antenna with a float on it. I've been thinking about doing a submersible rover, and it's the cheapest thing I could think of. Bassically you can have 15 feet or what ever your…"

"have you tried changing the mix between baro and gps 3d fix?"

"is there a setting I'm not seeing for Y6 frame config?"

"Have you tried recalibrating your brushless gimbal controller down on the P setting? I know if the P is too high it can caus those vibrations. From your flight controller the IMU looks fine, also how are you powering your bgc board? straight from…"

"I also know that I could just move both larger motors to rear coaxial boom, but I have it set  up where it the center of gravity is just under modified center of lift due to a forward mounted brushless gimbal, it's more a T6 than a Y6. So losing…"

"Well, here's an idea, use the servo gimbals feature to keep the ardupilot level.  it might reduce the mount of tilt and roll to give it more accurate headings and position calculations."

"I can see where you guys are going with this, but the 4X HDI only has the down scaning, which would help converting a 2d  image into a 3d image with the side scan, but alone, I don't think, without custom software to render that, it won't work only…"