From e3561f720459dc5a49e7133c37567f7d4fbaa7f9 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Wed, 27 Mar 2019 13:53:10 +1100
Subject: [PATCH] Sub: add log entry if depth sensor failure is resolved

---
 ArduSub/failsafe.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/ArduSub/failsafe.cpp b/ArduSub/failsafe.cpp
index 757c041f74..741eb3e1a3 100644
--- a/ArduSub/failsafe.cpp
+++ b/ArduSub/failsafe.cpp
@@ -73,7 +73,10 @@ void Sub::failsafe_sensors_check()
 
     // We need a depth sensor to do any sort of auto z control
     if (sensor_health.depth) {
-        failsafe.sensor_health = false;
+        if (failsafe.sensor_health) {
+            AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_SENSORS, LogErrorCode::ERROR_RESOLVED);
+            failsafe.sensor_health = false;
+        }
         return;
     }