Depth sending to Waterlinked always 0 meter

Third Party Products Sonar and Acoustics
1

Running Ardusub 4.0.1, Companion 0.0.20 and Waterlinked 2.5.1 makes communication working, but the received depth in WL is always 0 meters.
This makes the positioning useless with position error up to 100 meters.

Starting WL webUI without running BR softwares displays error “No external depth received” and also sets a flag in diagnostics “NoDepthReceived” as intended.
Starting BR software makes the WL error and flag disappear, also as intended.
Looking in WL webUI “acoustic:input_temperature” is received with correct value. But “acoustic:input_depth” always displays exactly “0m” even at 100 m depth.
Depth in QGC is always correct.
How can I trace problem?

2

This was also posted on the Water Linked forum. I have replied there: https://waterlinked.com/forums/topic/depth-sending-to-waterlinked-always-reads-0-meter/#post-15820

3

Error in Companion WL module

Thanks for quick answer Kristian!
Yes, QGC always display correct depth.
Trying your suggestion “screen -r wldriver” gives that companion module is sending “0.0” meters all the time.
I guess that mean there is something wrong in companion module.

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4

Hi @Boko,

This looks like an issue with Ardusub 4.0. You may revert to 3.5.4 meanwhile to get WL working again.

5

Hi @williangalvani for tip
Since Companion is sending temperature correct, it might be possible to find the problem by comparing script for temperature with script for depth?

6

Hi @Boko,

This is the issue:

We need to update where we pull the depth from.