I am experiencing issues with the depth readings in cockpit, as it suddenly change—for example, showing 80 m and then jumping to 160 m,before returning to normal or not returning to normal. (it would appear sometimes to recalibrate on the seabed, and doubles the depth it is actually working in) I …

[image] murdo: Screen recordings of depth reading issues You’re using a relative altitude indicator here, rather than a depth indicator . Is there a particular reason for that? They use different sources of information, and the relative altitude indicator is generally not intended for use und…

Hey @EliotBR ! [image] Eliot: What kind of log files are you looking at? Can you share one? What widget(s) are you using to display the depth? Which values is Cockpit displaying? I’ll share one of my .bin files tomorrow! But also looking at @Mac1 his log files, I see that his Barometer valu…

[image] Sietse: … when I’m looking into the log file (.bin) of that exact moment, the barometer values seems to be accurate, giving me the absolute depth ratings. Do you have some kind of positioning system, outside of just the barometer? [image] Sietse: Can I assume that the VFR_HUD_ALT…

@sietse please download this temporary release and open it. Go to /menu/settings/dev and click the “Start” button to generate a MAVLink dump. 10 seconds are enough. Download the file and send here so we can check it. This way we can understand what Cockpit is receiving and why the values being shown…

Hey @EliotBR and @rafael.lehmkuhl , [image] Eliot: Do you have some kind of positioning system, outside of just the barometer? I do have a GPS and a DVL attached, but the EKF3_SRC_POSZ parameters are all set to Baro. [image] Eliot: They technically use the AHRS2 message’s .alt field, but…

@sietse my friend @williangalvani , which is the ArduSub maintainer, has asked you to update your vehicle firmware to the latest stable (4.5.7). He said there were fixes around the altitude values between 4.5.3 and 4.5.7 that can be the solution here.

Hey @rafael.lehmkuhl , [image] Rafael Araujo Lehmkuhl: @sietse from the JSONL log you sent, all your AHRS2.Altitude are 0 I’m so sorry for the JSONL log. I had it running while the ROV was surfaced (read: on the table). I’m gonna make a new Mavlink Dump JSONL in a few hours! [image] Raf…

[image] Sietse: The forum doesn’t allow .jsonl files I’ve fixed this now - thanks for mentioning it :slight_smile:

Hey @rafael.lehmkuhl ! I just made 3 Cockpit Mavlink Dumps! Hope this will help us out. cockpit-mavlink-dump-2026-05-07T15-04-18-601Z.jsonl (550.7 KB) cockpit-mavlink-dump-2026-05-07T15-03-17-493Z.jsonl (428.0 KB) cockpit-mavlink-dump-2026-05-07T14-59-23-178Z.jsonl (846.7 KB) The .bin logfiles …

Depth estimate suddenly changing (while positioning system enabled)

Blue Robotics Software ArduSub

rafael.lehmkuhl (Rafael Araujo Lehmkuhl) May 6, 2026, 5:18pm 13

@sietse from the JSONL log you sent, all your AHRS2.Altitude are 0:

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Depth estimate suddenly changing (while positioning system enabled)

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Depth estimate suddenly changing (while positioning system enabled)

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