Manual control not working in depth hold mode

[EliotBR (Eliot)]

Hi @TomRvr, welcome to the forum

Apologies for the delay on getting to this.

To clarify your situation,

1. What do you mean by “it doesn’t work when I’m switching to Depth hold mode”?
   • Are your control commands ignored?
   • Does it move unexpectedly?
2. Does controlling the vehicle in depth hold mode work normally (e.g. via QGroundControl, with a joystick)?
3. Are you also sending regular HEARTBEAT messages?

   @EliotBR

   MAVLink connections expect to receive a heartbeat message at least every second (if not received the communication may be stopped), and when you’re controlling the vehicle it’s subject to the heartbeat failsafe , and rc override commands are subject to the pilot input failsafe and to RC_OVERRIDE_TIME .

   • You’re already sending regular motion control messages, so the pilot input side of things should be ok

@TomRvr

The same code works with the Ardusub SITL with the following configuration :

• Ubuntu 20.04
• ArduSub master branch

Are you saying the issue is only present in the ArduSub 4.1.0 release, and has been fixed in the master branch? If so, can you try checking out the ArduSub-4.1.1 tag (or just the Sub-4.1 branch) and seeing whether it works as expected there?