I created a script to stop the boat running aground in auto mode, it basically just checks if its in auto mode and the downwards facing rangefinder is above a set limit, if it gets to shallow it will switch to loiter mode to stop it getting further into trouble but it could be modified to have more complex behaviour such as head to a waypoint in the centre of the pond until the depth is above its limit before heading to the next waypoint.
1 Like