What are equites companions? Or do you mean Campanian cavalry?
I think its luck but also the sort of wounds can influence the chance of healing. For example, if you got shot down by missiles the chance is quite high that they heal. If it is a simple fight with no tricks (so get cut by a sword, stabbed by a spear) they usually stay dead.
Chance of healing:
Shot down > ran over by cavalry > cut down/stabbed to death.
It is also certain that you have a chirurgeon/doctor/herbalist.
~Fluvius
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