# Bar100 Depth Sensor Error **URL:** \ **Category:** Sensors\ **Created:** [June 26, 2022, 9:40pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400 "2022-06-26T21:40:57Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![bsnow](https://avatars.discourse-cdn.com/v4/letter/b/f4b2a3/32.png) [@bsnow](https://discuss.bluerobotics.com/u/bsnow)\ **Post date:** [June 26, 2022, 9:40pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/1 "2022-06-26T21:40:57Z")
Hi, I am running into some issues with the Bar100 sensor. I swapped out the stock Bar30 sensor for the deeper rated Bar100, and and getting a 'Depth Sensor Error" message in QGroundControl periodically. This message pops up every few minutes; between the error messages, the depth readings that I see in QGroundControl seem to be fine. This error mostly manifests at surface, but does come up periodically at depth as well. I can calibrate the sensor without issue in QGroundControl. I have read in some other topics that the “Depth Sensor Error” message is a hardware fault; however, I’ve tried two different Bar100 units and the error persits. Recalibrating the pressure sensor in QGroundControl also does not seem to solve the issue. I am running the latest BlueOS release, on a RPi 4B. QGroundControl V.4.2.3, ArduSub is the latest available stable release. Are there any setup steps that I may have missed going from a Bar30 to a Bar100? Any advice would be welcome. ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [June 27, 2022, 7:17pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/2 "2022-06-27T19:17:45Z")
Hi @bsnow, welcome to the forum 🙂 I’m not certain what’s going on here, so 1. Which [flight controller board](https://bluerobotics.com/learn/technical-reference/#flight-controller-boards) are you using (e.g. Navigator / Pixhawk / Pixhawk 4)? 2. Is `Keller` selected in your [`BARO_PROBE_EXT` / `GND_PROBE_EXT`](https://www.ardusub.com/developers/full-parameter-list.html#gndprobeext-external-barometers-to-probe) parameter? ---
**Author:** ![Hugoparty](https://avatars.discourse-cdn.com/v4/letter/h/a8b319/32.png) [@Hugoparty](https://discuss.bluerobotics.com/u/Hugoparty)\ **Post date:** [November 3, 2022, 8:38am UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/4 "2022-11-03T08:38:11Z")
Hi I also had this problem. This is a problem with both PixHawk and the Navigator Flight Controller. It was a problem with both Companion and BlueOS BARO\_EXT\_BUS was set to unknown - I put this into Bus0 BARO\_PROBE\_EXT was empty - is now set to 265 - Keller These settings seems to fix the problem with Depth Sensor Error every 5 minuts ---
**Author:** ![Hugoparty](https://avatars.discourse-cdn.com/v4/letter/h/a8b319/32.png) [@Hugoparty](https://discuss.bluerobotics.com/u/Hugoparty)\ **Post date:** [November 5, 2022, 4:04pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/5 "2022-11-05T16:04:50Z")
After some testing i found out that the BARO\_EXT\_BUS needs to havel unknown value =6 or else the QGC will not recognize the depth sensor ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [November 7, 2022, 12:12pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/6 "2022-11-07T12:12:39Z")
Hi @Hugoparty, welcome to the forum 🙂 Thanks for sharing your solutions to this issue. Note that [`BARO_PROBE_EXT`](https://www.ardusub.com/developers/full-parameter-list.html#gndprobeext-external-barometers-to-probe) should generally include both the `256` and `512` bits, to enable the KellerLD-based [Bar100](https://bluerobotics.com/store/sensors-sonars-cameras/sensors/bar100-sensor-r2-rp/) and the MS5837-based [Bar30](https://bluerobotics.com/store/sensors-sonars-cameras/sensors/bar30-sensor-r1/) respectively 🙂 As you found, `BARO_EXT_BUS` depends on the hardware being used. Thanks for mentioning that - [we need to update that parameter to account for I2C 6 on the navigator](https://github.com/ArduPilot/ardupilot/pull/22145). ---
**Author:** ![nickz21](https://avatars.discourse-cdn.com/v4/letter/n/d26b3c/32.png) [@nickz21](https://discuss.bluerobotics.com/u/nickz21)\ **Post date:** [March 18, 2024, 2:54pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/7 "2024-03-18T14:54:20Z")
Hi, I’m currently running a BlueROV2 with a Bar100 sensor. I’m using the Navigator autopilot with firmware 4.1.1. Basically, I’m getting QGC to throw me a “Depth Sensor Error” message seemingly randomly every few minutes or so. I’ve seen the error both on the surface and underwater, and between error messages, I seem to get reasonable depth estimates. I also seem to be able to calibrate the sensor. I’m able to operate in depth hold mode, but when the error comes up, I’m kicked into Manual mode. I’ve seen other people in the forum run into this issue, and I’ve verified my baro settings (BARO\_PROBE\_EXT and BARO\_EXT\_BUS). I’ve also seen other people say that ferrite beads fixed their problem, but I don’t suspect that’s my issue if I periodically get this error when motors aren’t running (haven’t tried the ferrite bead yet). My settings for the baro should be in the image below. ![IMG_0695](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/4/4a1c12a272c695b13b1138f4a59db1faacccc200.jpeg) Looking for advice to resolve this issue. Thanks in advance! ---
**Author:** ![jasonir129](https://avatars.discourse-cdn.com/v4/letter/j/c67d28/32.png) [@jasonir129](https://discuss.bluerobotics.com/u/jasonir129)\ **Post date:** [March 25, 2024, 4:41pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/8 "2024-03-25T16:41:16Z")
I’m curious about this as well. Any BR engineers want to venture a guess what’s going on? Thanks! ---
**Author:** ![tony-white](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/tony-white/32/13297_2.png) [@tony-white](https://discuss.bluerobotics.com/u/tony-white)\ **Post date:** [March 25, 2024, 7:00pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/9 "2024-03-25T19:00:07Z")
Hi @nickz21 - The motors don’t need to be running for the I2C bus to have issues. I’d recommend re-routing your pressure sensor cable, and installing ferrite-cores if possible. Sorry for the hassle! ---
**Author:** ![nickz21](https://avatars.discourse-cdn.com/v4/letter/n/d26b3c/32.png) [@nickz21](https://discuss.bluerobotics.com/u/nickz21)\ **Post date:** [June 6, 2024, 1:45pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/10 "2024-06-06T13:45:15Z")
Hi Tony, I appreciate the recommendation, but it doesn’t appear to have helped. I bought a second Bar100 sensor that is also consistently giving me the same depth sensor error. I’ve wrapped the wires around ferrite-cores for both sensors and have re-routed the wires. The new sensor isn’t even installed in the end cap yet; I have it loose, so I can move the cable around. I’m starting to suspect this is a software issue. I’ve tried changing Baro\_ext\_bus to -1, but this doesn’t appear to have helped. I see the same behavior of the sensor showing up but then periodically having a depth sensor error. Any help would be appreciated. Thanks! ---
**Author:** ![jasonir129](https://avatars.discourse-cdn.com/v4/letter/j/c67d28/32.png) [@jasonir129](https://discuss.bluerobotics.com/u/jasonir129)\ **Post date:** [June 12, 2024, 2:45pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/11 "2024-06-12T14:45:59Z")
Bump! Exact same issue here, even with the ferrite bead. All stock in the autopilot bottle, regularly bumped out of closed loop control due to depth sensor error, very frustrating. ---
**Author:** ![jasonir129](https://avatars.discourse-cdn.com/v4/letter/j/c67d28/32.png) [@jasonir129](https://discuss.bluerobotics.com/u/jasonir129)\ **Post date:** [July 1, 2024, 9:03pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/12 "2024-07-01T21:03:06Z")
Hi all, looks like we still have the issue @nickz21 has, even when totally stock with the upgraded Bar100. We’ve replaced the baro, installed the ferrite bead, and we still periodically get the depth sensor error. Is there a way to prevent this error from kicking us out of closed loop control (depth/position hold etc.), especially if we just need to live with this periodic nuisance? It prevents us from doing any significant closed loop operations. Any other insight? @EliotBR ? ---
**Author:** ![jasonir129](https://avatars.discourse-cdn.com/v4/letter/j/c67d28/32.png) [@jasonir129](https://discuss.bluerobotics.com/u/jasonir129)\ **Post date:** [July 2, 2024, 6:12pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/13 "2024-07-02T18:12:55Z")
@tony-white , should’ve added you too ---
**Author:** ![nickz21](https://avatars.discourse-cdn.com/v4/letter/n/d26b3c/32.png) [@nickz21](https://discuss.bluerobotics.com/u/nickz21)\ **Post date:** [July 11, 2024, 8:30pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/14 "2024-07-11T20:30:48Z")
@tony-white @EliotBR I’ve tested with a Bar30, and I don’t appear to be getting any periodic “depth sensor errors” thrown at me. We’d like to use the Bar100, but getting these errors thrown at is is hindering our ability to test reliably. We can use the Bar30 as a short term fix, but we’d prefer to be able to use the Bar100 moving forward. Any insight you have as to why the Bar30 works seamlessly and the Bar100 throws errors every once in a while would be greatly appreciated. Thanks, Nick ---
**Author:** ![jasonir129](https://avatars.discourse-cdn.com/v4/letter/j/c67d28/32.png) [@jasonir129](https://discuss.bluerobotics.com/u/jasonir129)\ **Post date:** [July 12, 2024, 4:57pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/15 "2024-07-12T16:57:45Z")
Interesting find! So potentially this is a defect with the Bar100?! We’ve replaced the 100 and continue to get the fault. Any thoughts from BR? @tony-white @EliotBR . We’ve been hitting our heads against a wall on this since March. 🫤 ---
**Author:** ![SubseaLED](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/subsealed/32/12651_2.png) [@SubseaLED](https://discuss.bluerobotics.com/u/SubseaLED)\ **Post date:** [April 24, 2026, 8:50am UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/16 "2026-04-24T08:50:38Z")
Hi All, i’m getting the same error too. Also the reading is really inconsistent. After baro calibration out of water i still read 0,6 to 1 meter and once in water i’m getting around 4-5mts reading with the vehicle at 0,5m depth. Anybody managed to fix it? ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [April 24, 2026, 11:55am UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/17 "2026-04-24T11:55:49Z")
Sorry this ended up slipping through. I had a half-written response to the last comment that never got posted! Coincidentally @tony-white was digging into this problem recently, and managed to find a possible cause in the ArduPilot driver code, which he’s [raised a fix for](https://github.com/ArduPilot/ardupilot/pull/32889). It’s currently under review, but does seem to have fixed the issue for him. If you’re willing to help test I can build a firmware for you to try running. Are you using a Navigator on an RPi4, or some other setup? 🙂 ---
**Author:** ![SubseaLED](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/subsealed/32/12651_2.png) [@SubseaLED](https://discuss.bluerobotics.com/u/SubseaLED)\ **Post date:** [April 24, 2026, 1:07pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/18 "2026-04-24T13:07:36Z")
Hi Elliot, Raspi 4 ---
**Author:** ![EliotBR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eliotbr/32/6937_2.png) [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)\ **Post date:** [April 24, 2026, 1:32pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/19 "2026-04-24T13:32:25Z")
Here’s a Navigator build of the test firmware: [ardusub-navigator-kellerLD-fix.elf](https://discuss.bluerobotics.com/uploads/short-url/rLR7eA9Qvtg8cD5E3dSqlYusVqF.elf) (2.4 MB) You should be able to install it using the “Upload firmware file” functionality in the BlueOS [Autopilot Firmware](https://blueos.cloud/docs/latest/usage/advanced/#autopilot-firmware) page, after which hopefully the spurious readings (and corresponding depth sensor errors) will stop occurring. Note that this firmware is built from the latest development state of ArduPilot, so isn’t considered stable. If this gets confirmed as working then we can merge it in as part of the ongoing 4.7 beta program, and include it in the upcoming 4.7 stable release 🙂 ---
**Author:** ![SubseaLED](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/subsealed/32/12651_2.png) [@SubseaLED](https://discuss.bluerobotics.com/u/SubseaLED)\ **Post date:** [April 25, 2026, 9:31am UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/20 "2026-04-25T09:31:31Z")
Hi, I’ve tested the firmware but seems the same behaviour. What i noticed is: Floating scaled pressure After a while that i calibrate the sensor offset seems that the offset change . This happen also with the stable firmware ---
**Author:** ![jasonir129](https://avatars.discourse-cdn.com/v4/letter/j/c67d28/32.png) [@jasonir129](https://discuss.bluerobotics.com/u/jasonir129)\ **Post date:** [April 25, 2026, 12:45pm UTC](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400/21 "2026-04-25T12:45:51Z")
Thanks all for bringing this issue back to life. It was such a frustration of an issue that we uninstalled the Keller sensor and used the more basic baro because we couldn’t work on autonomous control of the vehicle without getting bumped out into manual mode regularly. Excited to see how this progresses. [Next page](https://discuss.bluerobotics.com/t/bar100-depth-sensor-error/12400.md?page=2)