# Water Linked integration **URL:** \ **Category:** Sonar and Acoustics\ **Tags:** water-linked, positioning, underwater-gps\ **Created:** [November 13, 2019, 9:05pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347 "2019-11-13T21:05:28Z")\ **Posts on this page:** 11\ **Page:** 1
**Author:** ![Aquila](https://avatars.discourse-cdn.com/v4/letter/a/8edcca/32.png) [@Aquila](https://discuss.bluerobotics.com/u/Aquila)\ **Post date:** [November 13, 2019, 9:05pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/1 "2019-11-13T21:05:28Z")
Hi, We’ve fitted the Locator A1 and tried testing the waypoint navigation but an error keeps showing indicating that the water linked is unable to get the depth data. The Ground control map app does not show the Bluero position as well. How do I verify if the setup is done correctly? Thanks. Sylvester ---
**Author:** ![DanielG\_BR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/danielg_br/32/13641_2.png) [@DanielG\_BR](https://discuss.bluerobotics.com/u/DanielG_BR)\ **Post date:** [November 15, 2019, 1:06am UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/2 "2019-11-15T01:06:58Z")
Hi @Aquila, Are you using the A1 locator with the [integration kit](https://bluerobotics.com/store/sensors-sonars-cameras/underwater-gps/aps-wl-brov2-kit-r2-rp/) on a BlueROV2? What version of the Companion software are you on? ---
**Author:** ![Aquila](https://avatars.discourse-cdn.com/v4/letter/a/8edcca/32.png) [@Aquila](https://discuss.bluerobotics.com/u/Aquila)\ **Post date:** [December 10, 2019, 3:21am UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/3 "2019-12-10T03:21:53Z")
We have upgraded the firmware to 0.0.18. for the companion software. ---
**Author:** ![DanielG\_BR](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/danielg_br/32/13641_2.png) [@DanielG\_BR](https://discuss.bluerobotics.com/u/DanielG_BR)\ **Post date:** [December 10, 2019, 8:52pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/4 "2019-12-10T20:52:52Z")
Thanks, did you also use an [integration kit](https://bluerobotics.com/store/sensors-sonars-cameras/underwater-gps/aps-wl-brov2-kit-r2-rp/) with your installation? ---
**Author:** ![Ilkka](https://avatars.discourse-cdn.com/v4/letter/i/5f8ce5/32.png) [@Ilkka](https://discuss.bluerobotics.com/u/Ilkka)\ **Post date:** [December 12, 2019, 12:17pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/5 "2019-12-12T12:17:28Z")
We have the same problem with A1 locator, waterlinked software displays the “No External Depth Error” (no other errors). We have the integration kit installed and I have updated all software: Ardusub 3.5.4 Companion: 0.0.18 Waterlinked: 2.5.1 I have also tried "Restore Default Options” from mavproxy page as suggested in the troubleshooting. For what it matters, we also have the ping360 sonar installed and it works fine. Also the ROV itself works fine. Any suggestions what to try next? ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [December 13, 2019, 8:03pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/6 "2019-12-13T20:03:28Z")
As a quick diagnosing option, please open a terminal at [http://192.168.2.2:8088](http://192.168.2.2:8088), type `ping 192.168.2.94` and send us the output. This will tell us if the waterlinked system is reachable from the companion. ---
**Author:** ![Ilkka](https://avatars.discourse-cdn.com/v4/letter/i/5f8ce5/32.png) [@Ilkka](https://discuss.bluerobotics.com/u/Ilkka)\ **Post date:** [December 16, 2019, 9:51am UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/7 "2019-12-16T09:51:49Z")
Thank you for the advice. It seems we have now solved the problem. Initially the pinging of waterlinked system at 192.168.2.94 did not work. We went trough the cables and rewired them. It seems this has solved the problem, although we did not find any obvious mistake in the wiring. Now the depth information is relayed to the waterlinked system and the system seems to work. One other thing we noticed was that there seems to be much more lag in the controls now. There is noticeable delay when controlling the ROV. Any ideas where that might come from? Before the lag was hardly noticeable. ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [December 16, 2019, 12:12pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/8 "2019-12-16T12:12:00Z")
Is the video ok? What is your companion version? ---
**Author:** ![Ilkka](https://avatars.discourse-cdn.com/v4/letter/i/5f8ce5/32.png) [@Ilkka](https://discuss.bluerobotics.com/u/Ilkka)\ **Post date:** [December 18, 2019, 2:50pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/9 "2019-12-18T14:50:14Z")
After some more testing it seems everything is ok now. ---
**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [December 18, 2019, 4:56pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/11 "2019-12-18T16:56:32Z")
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**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\ **Post date:** [December 23, 2019, 9:00pm UTC](https://discuss.bluerobotics.com/t/water-linked-integration/6347/12 "2019-12-23T21:00:09Z")
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