Hello, we’ve tested with 0.0.25 and ardusub-402-depth-hold-fix and versions but the vehicle still goes for a unwanted deep dive!
We figured that this most often reproducible when arming first into manual or stabilize mode and then switching to depth hold mode.
So as a workaround we had to switch first into depth hold mode before arming the vehicle.
Here you can find an example of how the signal logs look like for such an incident:
According to ardupilot/LogStructure.h at Sub-4.1 · ArduPilot/ardupilot · GitHub
pida target refers to the depth/altitude setpoint of the PID Controlller. The unit of this variable was not given in the documentation. However, those peaks seem not to be desired.
