Success!
We have had our first test of using Ardupilot to drive the ROV autonomously. There are still a few kinks to iron out. It sometimes overshoots the GPS waypoints which could cause it to crash into some of the centuries-old shipwrecks. This can be solved by slowing down the navigation speed, or doing something radical like installing rudders. On the test day it was a little choppy which caused a lot of water to get on the deck, and while it should be waterproof, the less that can go wrong, the better, so the ROV will likely need to go slower anyway.
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