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Ascent to the surface in an emergency

Is in ardusub with qgroundcontrol way to Ascent to the surface in an emergency on board or when the AUV is unable to reach the point of normal ascent? I didn’t found that functionality.

A way to achive that is to have the ROV slightly positive.
In case of cut tether or power loss it will pop up.
That buyoncy also give other good things like not stiring up silt at bottom.

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There is a Surface mode that can be engaged as a failsafe action.

This way, if a leak is detected or pilot input is lost, for example, the rov will actively surface.

Thank you William!