# Depth hold mode : ROV sinks to bottom
**URL:** https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402
**Category:** Thrusters and Motors
**Created:** [June 27, 2022, 12:07pm UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402 "2022-06-27T12:07:41Z")
**Posts on this page:** 8
**Page:** 1
### Author:  [@katlea](https://discuss.bluerobotics.com/u/katlea)
#### Post date: [June 27, 2022, 12:07pm UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/1 "2022-06-27T12:07:41Z")
Hi,
The last few times I used my BR2 and activated “Depth Hold mode”, the ROV went straight to the bottom (which was, fortunately, not very deep and sandy). This happened to me a couple of times. Sometimes it happens, sometimes it doesn’t.
Any idea what causes it?
I was lucky this time that we were somewhere with a sandy bottom… but if it had been solid hard bottom, the ROV would have been damaged for sure.
I checked for other similar issues but most answer point toward a bad configuration of the thrusters. I don’t think this is it because sometimes it behaves correctly.
Thanks for reading!
Lea
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### Author:  [@iSENSYS](https://discuss.bluerobotics.com/u/iSENSYS)
#### Post date: [June 27, 2022, 1:04pm UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/2 "2022-06-27T13:04:56Z")
Are you getting good, accurate depth information from the depth sensor? Which sensor are you using?
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### Author:  [@katlea](https://discuss.bluerobotics.com/u/katlea)
#### Post date: [June 27, 2022, 1:32pm UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/3 "2022-06-27T13:32:47Z")
I’m not using any external added sensors. Only built-in sensors from the BlueROV. And as displayed on QGroundControl, the depth always seems accurate.
Also, FYI, I have the “heavy” version.
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### Author:  [@EliotBR](https://discuss.bluerobotics.com/u/EliotBR)
#### Post date: [June 27, 2022, 7:28pm UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/4 "2022-06-27T19:28:56Z")
Hi @katlea,
Can you try updating to ArduSub 4.1.0? We recently made that the latest stable version, and it should hopefully fix this issue 🙂
I was planning to make a post a couple of weeks ago about the main changes for ArduSub 4.1.0 (and QGC 4.2.3), but am currently travelling and didn’t manage to get it out beforehand. There are a number of depth hold improvements, which in the meantime you can read about in [the release notes](https://github.com/ArduPilot/ardupilot/blob/ArduSub-4.1.0/ArduSub/ReleaseNotes.txt#L4-L65).
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### Author:  [@etienne](https://discuss.bluerobotics.com/u/etienne)
#### Post date: [January 24, 2023, 3:07am UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/5 "2023-01-24T03:07:57Z")
Hi Guys,
I was wondering if this depth hold issue was finally resolved.
Any updates from those using ArduSub 4.1.0?
Cheers,
Etienne
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### Author:  [@katlea](https://discuss.bluerobotics.com/u/katlea)
#### Post date: [January 24, 2023, 6:37am UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/6 "2023-01-24T06:37:30Z")
Actually, after unmounting it for travel, two of the side propellers were switched. Switching them back fixed everything.
But we did indeed update Ardusub and it’s much better!
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### Author:  [@btrue](https://discuss.bluerobotics.com/u/btrue)
#### Post date: [January 27, 2023, 12:43am UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/7 "2023-01-27T00:43:54Z")
@etienne I had a problem with the ROV slamming itself into the bottom when switching to depth hold, and I haven’t had the problem since I updated. I think I’m using 4.1.
[Depth Hold Problems? - Blue Robotics Software - Blue Robotics Community Forums](https://discuss.bluerobotics.com/t/depth-hold-problems/8993)
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### Author:  [@etienne](https://discuss.bluerobotics.com/u/etienne)
#### Post date: [January 27, 2023, 12:59am UTC](https://discuss.bluerobotics.com/t/depth-hold-mode-rov-sinks-to-bottom/12402/8 "2023-01-27T00:59:50Z")
Great, thanks for the update guys.