I have the R4 Wifi, the one with the little LED matrix right in the board.@sawdonkey which Arduino are you using? If it is an Uno R4 with a Renesas microcontroller then it has this issue and you have to update the servo library. I can walk you through that if needed.
Here is a teaser of the thruster housing. So it attaches to the two machine screws where the current nosecone attaches, passes the power cable out, holds three coated magnets inside, and those interface with three coated magnets outside in the outer component.
Buddy is going to help me machine one and I will likely print one as well and see what turns out better. This part, the outboard magnet holder, plus the required long M3 screws, and the 6 magnets, will be what is needed to transform a T200 into a mount-to-glass powerhead.
Your housing looks awesome, however I suspect it won’t allow enough water through and will strain the pump causing it to be noisy. I could be wrong, this was the case for my test housings. Perhaps this I why Abyzz made the cannon so long? More surface area to let water through? I hope I’m wrong, because that design is really sharp!