Hello! I looked through the program interface QgroundControl, studied the user manual, but I understand that the return home (RTH) was specially removed from the program interface, including when the signal is lost (failsafe)? I will explain the problem - the students and I are designing an underwater vehicle ROV, it will have positive buoyancy, and it is important for us that if, for example, a fiber-optic cable breaks (or if the ROV gets tangled at the bottom among the branches, it could cut the cable itself), it can float up on its own (positive buoyancy) and after a few seconds the return home via GPS should turn on - after all, it will be above the water and will be able to receive satellites. Thus, the ROV will be able to return to the starting point itself. But I understand that today it is not implemented in software, while everything is available in hardware for this.
Please tell me how you can implement this? So far, I came up with the idea of putting a separate engine-thruster with a rudder as a normal boat and putting a separate autopilot with its own GPS. After surfacing, the device will be able to return home on this autopilot like an ordinary boat. But it is expensive, cumbersome and unreliable - you need to install a servo motor for the steering wheel. Yes, it’s silly to do all this, since ARdusub already has everything for this.
Help solve this problem! Thank you very much and greetings from cold Siberia!