Hi @amarburg,
I’ve moved your post here, because it may be on the same topic.
It’s worth noting that
Could you provide a DataFlash (.bin) log from the autopilot (e.g. fetched from the “Log Browser” page), so we can try to determine whether the sensor is giving noisy readings that are causing the jumps, or something else is afoot?
Others in this thread seem to be having issues with the autopilot’s depth estimate jumping away from the estimate of the barometer, but from your description yours may be more confined to the handling/driver of the sensor itself.