# Catamaran Boat - which "Airframe" to choose **URL:** \ **Category:** PX4 Autopilot\ **Created:** [May 7, 2019, 2:17pm UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887 "2019-05-07T14:17:47Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![boga](https://discuss.px4.io/letter_avatar_proxy/v4/letter/b/ad7895/32.png) [@boga](https://discuss.px4.io/u/boga)\ **Post date:** [May 7, 2019, 2:17pm UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/1 "2019-05-07T14:17:47Z")
Hi! I am in a project where we are building catamaran boat. We are planning to make our one modifications in the code. For example to support differential steering and other stuff. Which idea is better - to pick an air vehicle with lots of sensor support and possibilities and start removing code or use rover frame and add code? Any suggestions? Best Regards ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [May 8, 2019, 7:55am UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/2 "2019-05-08T07:55:28Z")
I would have a look at the work which is going on for rovers. Most likely that will match closest. I’m pinging @Timothy who is looking into differential steering for rovers. ---
**Author:** ![boga](https://discuss.px4.io/letter_avatar_proxy/v4/letter/b/ad7895/32.png) [@boga](https://discuss.px4.io/u/boga)\ **Post date:** [May 10, 2019, 10:32am UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/3 "2019-05-10T10:32:20Z")
OK. Thank you very much @JulianOes. 🙂 Besides the motors one thing that I know for sure is that we want to add ultrasonic sensors around the boat body (for obstacle avoidance). As I can understand Rover can support 2 sonars by default, is that correct? Is it possible to add more ultrasonic sensors and does this mean coding or just configuring stuff? ---
**Author:** ![boga](https://discuss.px4.io/letter_avatar_proxy/v4/letter/b/ad7895/32.png) [@boga](https://discuss.px4.io/u/boga)\ **Post date:** [May 10, 2019, 12:09pm UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/4 "2019-05-10T12:09:24Z")
I have read the documentation of the code (PX4 Developer’s Guide). Have not read it through yet, but I do not understand how the code is organized. On a contrary to Ardupilot where the platforms are divided into folders I can understand that PX4 code is organized totally different. So how do I find the Rover code (or code related to rover)? How to compile code for a specific platform? ---
**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\ **Post date:** [May 15, 2019, 1:48pm UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/5 "2019-05-15T13:48:10Z")
I’m not sure if PX4 can cope with more than one distance sensor (e.g. ultrasonic). And I don’t even know if it can do obstacle avoidance on just that. @mrivi might know. For the rover code, have a look here: > **[PX4/Firmware](https://github.com/PX4/Firmware/tree/master/src/modules/gnd_att_control)** > > PX4 Autopilot Software. Contribute to PX4/Firmware development by creating an account on GitHub. > **[PX4/Firmware](https://github.com/PX4/Firmware/tree/master/src/modules/gnd_pos_control)** > > PX4 Autopilot Software. Contribute to PX4/Firmware development by creating an account on GitHub. ---
**Author:** ![mrivi](https://discuss.px4.io/letter_avatar_proxy/v4/letter/m/58f4c7/32.png) [@mrivi](https://discuss.px4.io/u/mrivi)\ **Post date:** [May 16, 2019, 7:19am UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/6 "2019-05-16T07:19:02Z")
As far as I know you cannot connect multiple distance sensor. The PX4 obstacle avoidance requires a pointcloud as in input. There isn’t any interface for distance sensor data. ---
**Author:** ![boga](https://discuss.px4.io/letter_avatar_proxy/v4/letter/b/ad7895/32.png) [@boga](https://discuss.px4.io/u/boga)\ **Post date:** [June 18, 2019, 2:05pm UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/7 "2019-06-18T14:05:01Z")
It this really true that only 1 distance sensor is supported by default? Usually drones have many ultrasonic sensors. ---
**Author:** ![junwoo0914](https://discuss.px4.io/user_avatar/discuss.px4.io/junwoo0914/32/12312_2.png) [@junwoo0914](https://discuss.px4.io/u/junwoo0914)\ **Post date:** [March 4, 2023, 9:47pm UTC](https://discuss.px4.io/t/catamaran-boat-which-airframe-to-choose/10887/8 "2023-03-04T21:47:18Z")
Hey I wrote a blog post about configuring the catamaran type racing boat for PX4! Check it out if it may help you! > [@RC Speed Boat with PX4 - Episode 1 : Using PX4 to control the boat!](https://discuss.px4.io/t/rc-speed-boat-with-px4-episode-1-using-px4-to-control-the-boat/28429/1): > > RC Speed Boat with PX4 Links to other episodes of the Boat series: [RC Speed Boat with PX4 - Episode 0 : Trying out the Boat and integrating Pixhawk](https://discuss.px4.io/t/rc-speed-boat-with-px4-episode-0-trying-out-the-boat-and-integrating-pixhawk/28407)Properly integrating PX4 Autopilot In my [last post](https://discuss.px4.io/t/rc-speed-boat-with-px4-episode-0-trying-out-the-boat-and-integrating-pixhawk/28407), I tested the basic functionality of the boat but didn’t actually use PX4 for its right purpose. So, in this post I will show how I integrated the Autopilot properly and made it actually control the boat. This is how the boat arrived out of the box. That looks quite empty wink, let’s …