After lots of work from different people, it finally is a real AMSV. Nothing too fancy yet (just a mere PD controller for speed and heading). It is, nonetheless, a very interesting platform for future research.
With semi-strong current and some wind it managed to follow a very nice path across some waypoints:
The trajectory between p2 and the shore was done manually using a joystick. Interestingly enough, that path is less nice than those done by the autonomous control.
I hope to be able to post more niceties soon.