Not sure what's going on here but I've replied to a couple of these comments in the past and although I "Post"ed them they didn't appear in the subject file. So, apologies Jonathan, I did respond to your comment regarding OpenTX with reference to my initial comments on getting a new transmitter to give me more flexibility with a three-motor boat yesterday, but to no avail, so here we go again.
Firstly I took DJW's advice (thanks) and built a test rig to represent the three ESCs with three servos, plus a single servo for the rudder. Then I took the plunge and bought a Radiomaster TX16S on OpenTX and started to play around with it. It's a steep learning curve even with the help of "Painless360" Youtube videos and OpenTX Companion, but it is definitely worth the effort, the flexibility is truly amazing. I have almost unlimited channels, unlimited mixes and unlimited models to go at and the Companion download even gives you a simulator to try out your programmes as you write them. Please don't get the idea that I am experienced with computers, but with a little time and patience anyone can soon learn how to write the programmes for virtually any model. You can programme the radio itself or do all your programming on a pc, play with the simulator, transfer files to the radio and then go out and sail. Like Peter Kay's garlic bread, "it's the future"!
I now have a 4 channel, three motor boat which can spin on the spot via the rudder stick (left stick horizontal) and also go forward and reverse with biased steering from the two outer motors controlled on the aileron stick (right stick horizontal); no onboard mixing device, just three ESCs and a rudder servo.
I urge anyone to download the OpenTX Companion and have a go (it's free) to see what you are missing. As a bonus, an OpenTX transmitter is cheaper than a decent 'ordinary' tx and you save on the price of mixing units.
Anyone want to buy a couple of excellent Action Electronics mixers and a brand new Spektrum DX6 with receiver?