This is where I am at, I can’t get it to run there is an error on line 52,
essentially it’s just a modification of the terrain warning script but modified to work on the downward facing rangefinder. The idea is that if its in auto mode, and it gets shallow it will switch to loiter and send an alert to the ground station, essentially it restricts the minimum water depth it will work in auto mode. I haven’t had a chance to test my boat in the water, so it hasn’t really been a priority for me.
depth avoid.lua (1.6 KB)