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If you have the time to explain I'd love to know how you're stabilizing the boat, I can see you are from the description and I can't quite figure it out. Perhaps it has something to do with the robotic pivots? I've seen some guides using tilt sensors but it appears the tilt sensors on this vessel aren't hooked up to anything?
Yours stays so flat in the water which is great where as mine rolls a lot and can tip at super high speed.