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With ESP32 rover or sailboat autonomous

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Good morning,

I would like to make a sailboat autonomous
I looked at Ardupilot and the project is very good but I would like it to work with an esp32 if possible ESP32S2 or ESP32C3.
It is indicated as under development…
Firstly, an installation on an electric car to familiarize yourself

Can someone give me a link please

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