# Waypoint ArduSub

**URL:** https://discuss.bluerobotics.com/t/waypoint-ardusub/5738
**Category:** Blue Robotics Software
**Created:** [August 9, 2019, 8:21pm UTC](https://discuss.bluerobotics.com/t/waypoint-ardusub/5738 "2019-08-09T20:21:55Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![SydneyJohns](https://avatars.discourse-cdn.com/v4/letter/s/4491bb/32.png) [@SydneyJohns](https://discuss.bluerobotics.com/u/SydneyJohns)
#### Post date: [August 9, 2019, 8:21pm UTC](https://discuss.bluerobotics.com/t/waypoint-ardusub/5738/1 "2019-08-09T20:21:55Z")

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I have a BlueROV2. The vehicle runs fine in stabilize, manual, and depth hold mode. I have the frame setup called Simple ROV-4. Motors 3 and 4 Control depth.

When I try to do surface waypoint testing the vehicle automatically actuates the vertical thrusters (Motors 3 and 4) and the immediately dives. Is there a way to fix that using code? Is it a sensor depth issue where the vehicle doesn’t understand its altitude?