Vectored thrust for surface vessel - i

Hi there, I am a researcher that wants to apply PX4 on a boat equipped with vectored thrusters (thrusters with servo unit to produce thurst in any 2D orientation) to make the boat fully/over - actuated in the XY plane.

I have see that nowadays with the new dynamic allocation it is somehow possible but i wanted to be sure and to have feedback from the community / devs on the feasibility of this. That would help me a lot, thank you !

Best regards !

not sure if this helps, but I have seen this ticket open