As you can see, I have confirmed that the “ardusub-402-depth-hold-fix” does solve my problem.
https://s3-us-west-1.amazonaws.com/ardusub.bluerobotics.com/test-builds/ardusub-402-depth-hold-fix.apj
But I have also personally upgraded my BlueROV2 to 4.0.3 and 0.0.26 and it made it unusable and the companion computer ping was around 500ms: Low Network Transfers, ROV unusable I was hoping that it was just an minor configuration issue on my part, but if you have also experienced the issue, then maybe it wasn’t an isolated incident on my hardware on my part. I would personally recommend 0.0.25 and ardusub-402-depth-hold-fix,apj since that I what I was running before everything went south.