# Can't switch to depth hold mode **URL:** \ **Category:** BlueROV2\ **Created:** [December 19, 2016, 11:07pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590 "2016-12-19T23:07:00Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![ooyama](https://avatars.discourse-cdn.com/v4/letter/o/d6d6ee/32.png) [@ooyama](https://discuss.bluerobotics.com/u/ooyama)\ **Post date:** [December 19, 2016, 11:07pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/1 "2016-12-19T23:07:00Z")
QGC displays MAV\_CMD(11) command failed and I’ve already connected the bar30 cable to I2C port ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [December 20, 2016, 3:46am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/2 "2016-12-20T03:46:38Z")
It sounds like your pressure sensor is not recognized by the autopilot. Which version of ArduSub are you using? Try using the [latest version.](http://ardusub.com/firmware/#release-history) You can check if the pressure sensor is connected properly, by checking the ‘Mavlink Inspector’ from the Widgets menu in QGC. If the pressure sensor is connected and operating correctly, you should see a field called SCALED\_PRESSURE2 in the mavlink inspector. -Jacob ---
**Author:** ![ooyama](https://avatars.discourse-cdn.com/v4/letter/o/d6d6ee/32.png) [@ooyama](https://discuss.bluerobotics.com/u/ooyama)\ **Post date:** [December 20, 2016, 9:56am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/3 "2016-12-20T09:56:20Z")
Thank you! But there is only one field called SCALED\_PRESSURE ---
**Author:** ![ooyama](https://avatars.discourse-cdn.com/v4/letter/o/d6d6ee/32.png) [@ooyama](https://discuss.bluerobotics.com/u/ooyama)\ **Post date:** [December 20, 2016, 10:37am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/4 "2016-12-20T10:37:14Z")
But if I did disconnect the I2C port, the QGC displays PreArm: Barometer not healthy ---
**Author:** ![rjehangir](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/rjehangir/32/671_2.png) [@rjehangir](https://discuss.bluerobotics.com/u/rjehangir)\ **Post date:** [December 20, 2016, 10:39am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/5 "2016-12-20T10:39:43Z")
Ooyama, Can you verify that the Bar30 cable is plugged into the Pixhawk properly? It sounds like it is not being recognized. -Rusty ---
**Author:** ![ooyama](https://avatars.discourse-cdn.com/v4/letter/o/d6d6ee/32.png) [@ooyama](https://discuss.bluerobotics.com/u/ooyama)\ **Post date:** [December 20, 2016, 11:51am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/6 "2016-12-20T11:51:56Z")
yes, the port is anti-reverse ![](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/1X/c7eb573b68954ac1bd829aab17eccef84a19bfd6.jpg) ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [December 21, 2016, 3:46am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/7 "2016-12-21T03:46:36Z")
What version of ArduSub are you using? You can find out by going to the parameters page, and selecting refresh from the Tools dropdown menu. Then click the blue megaphone icon in that appears with messages. Please copy the line that looks like this: ArduSub VX.X-xxx (abcd1234) . ---
**Author:** ![ooyama](https://avatars.discourse-cdn.com/v4/letter/o/d6d6ee/32.png) [@ooyama](https://discuss.bluerobotics.com/u/ooyama)\ **Post date:** [December 21, 2016, 10:47am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/8 "2016-12-21T10:47:46Z")
Hi jacob, Here it is. ooyama ![](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/1X/4bfb8e665e0ca2497f13d9ff4bb3a647d3fc25f2.png) ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [December 21, 2016, 3:02pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/9 "2016-12-21T15:02:23Z")
Your firmware has an issue with the initialization of the pressure sensor that appeared in the master branch for a couple weeks. There have been a lot of changes in ArduSub over the last month, but now we have a stable release candidate. Please [update your firmware](http://ardusub.com/firmware/#release-history). -Jacob ---
**Author:** ![ooyama](https://avatars.discourse-cdn.com/v4/letter/o/d6d6ee/32.png) [@ooyama](https://discuss.bluerobotics.com/u/ooyama)\ **Post date:** [December 21, 2016, 7:08pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/10 "2016-12-21T19:08:11Z")
Thank you very much! ---
**Author:** ![haidermalicc](https://avatars.discourse-cdn.com/v4/letter/h/46a35a/32.png) [@haidermalicc](https://discuss.bluerobotics.com/u/haidermalicc)\ **Post date:** [December 29, 2016, 9:47pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/11 "2016-12-29T21:47:57Z")
@jacob, i am also facing the same problem even after installing the lastest version of ArduSub, can you please help me out? Thankyou ---
**Author:** ![haidermalicc](https://avatars.discourse-cdn.com/v4/letter/h/46a35a/32.png) [@haidermalicc](https://discuss.bluerobotics.com/u/haidermalicc)\ **Post date:** [December 29, 2016, 10:15pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/12 "2016-12-29T22:15:29Z")
do i need to change something in the parameter list to get this thing working? ---
**Author:** ![tciii](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/tciii/32/673_2.png) [@tciii](https://discuss.bluerobotics.com/u/tciii)\ **Post date:** [December 30, 2016, 12:46am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/13 "2016-12-30T00:46:08Z")
@Haider, When you have QGC communicating with your ROV you can use the MavLink Inspector, which is in the Widgets Tab, to view the Pixhawk parameters in real time. If your pressure sensor is being detected by the Pixhawk firmware you should have two Scaledpressure parameters showing in the Mavlink Inspector. Scaledpressure2 is the outboard pressure sensor. If Scaledpressure2 is not visible in the Mavlink Inspector then the outboard pressure sensor is not be detected by the firmware. Note, Scaledpressure2 is farther down the list of parameters in the the MavLink Inspector and is not grouped with Scaledpressure1. Also, be sure in the GND parameter group that the secnbaro is the primary pressure sensor and not the firstbaro. Regards, TCIII AVD ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [December 30, 2016, 1:27am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/14 "2016-12-30T01:27:51Z")
Haider, Has the pressure sensor ever worked for you (prior to updating)? Could you please provide your current ArduSub firmware version, and verify that the BAR30 cable is plugged in correctly.   -Jacob ---
**Author:** ![haidermalicc](https://avatars.discourse-cdn.com/v4/letter/h/46a35a/32.png) [@haidermalicc](https://discuss.bluerobotics.com/u/haidermalicc)\ **Post date:** [January 1, 2017, 4:44pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/15 "2017-01-01T16:44:42Z")
@Jacob, yes the sensor worked fine with the Arduino but not with the ROV. The sensor is plugged in correctly. ---
**Author:** ![haidermalicc](https://avatars.discourse-cdn.com/v4/letter/h/46a35a/32.png) [@haidermalicc](https://discuss.bluerobotics.com/u/haidermalicc)\ **Post date:** [January 1, 2017, 5:01pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/16 "2017-01-01T17:01:32Z")
I am only seeing Scaledpressure on MAVLink. I really need this problem to be solved ASAP, i have a competition in March and i have alot of work to do but very less time. ---
**Author:** ![haidermalicc](https://avatars.discourse-cdn.com/v4/letter/h/46a35a/32.png) [@haidermalicc](https://discuss.bluerobotics.com/u/haidermalicc)\ **Post date:** [January 1, 2017, 5:07pm UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/17 "2017-01-01T17:07:24Z")
@ooyama, Ooyama? was your problem solved or still facing the same issue? ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [January 2, 2017, 1:49am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/18 "2017-01-02T01:49:20Z")
Haider, Can you please let me know the ArduSub firmware version you are using, according to the directions I gave Ooyama above? Did you use a logic level converter when using the sensor with the Arduino, or did you connect the sensor directly to the Arduino? -Jacob ---
**Author:** ![haidermalicc](https://avatars.discourse-cdn.com/v4/letter/h/46a35a/32.png) [@haidermalicc](https://discuss.bluerobotics.com/u/haidermalicc)\ **Post date:** [January 2, 2017, 4:24am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/19 "2017-01-02T04:24:30Z")
where can i check the version of my ArduSub? but i have installed the latest version that was uploaded on 21st Dec. no i didnt used a logic converter, i directly connected it to arduino. ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [January 2, 2017, 5:59am UTC](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/20 "2017-01-02T05:59:35Z")
The instructions to find the firmware version are in this post: > [@Can't switch to depth hold mode](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590/7): > > What version of ArduSub are you using? You can find out by going to the parameters page, and selecting refresh from the Tools dropdown menu. Then click the blue megaphone icon in that appears with messages. Please copy the line that looks like this: ArduSub VX.X-xxx (abcd1234) . You can download the stable version of ArduSub [here](http://firmware.ardusub.com/Sub/stable/v3.4/PX4-vectored/). If you are using the BlueROV2, download the ‘vectored’ firmware. You may have damaged your pressure sensor. The pressure sensor I2C lines are not 5V tolerant. Most Arduinos run I2C at 5V. The Pixhawk I2C port is 3.3V, which is what the Bar30 was designed for. -Jacob [Next page](https://discuss.bluerobotics.com/t/cant-switch-to-depth-hold-mode/590.md?page=2)