Hi
I also had this problem.
This is a problem with both PixHawk and the Navigator Flight Controller. It was a problem with both Companion and BlueOS
BARO_EXT_BUS was set to unknown - I put this into Bus0
BARO_PROBE_EXT was empty - is now set to 265 - Keller
These settings seems to fix the problem with Depth Sensor Error every 5 minuts