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I like the idea of rotating motor housings too. With forward and reverse,
you can go up and down, forward and back, spin in a circle, and tilt your center
of gravity to the side a few degrees. The mechanics for the thruster rotating
base are simple, and only require one thru-hull per motor.
With a vertical fail, you can always go up.
You say you'd make it different on your next one?
Frank D.
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