[koppel.bo]

Running Ardusub 4.0.1, Companion 0.0.20, Waterlinked 2.5.1 and WL system with S1 transducer; 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?

Also posted at BR forum: https://discuss.bluerobotics.com/t/depth-sending-to-waterlinked-always-0-meter/7422
Bo

[wlkh]

Hi Bo,

Does the depth actually update in QGroundControl?

If the depth is correctly updated in QGC I suggest you try to connect to the script on the companion computer by running screen -r wldriver. This script should print out what it is sending, so you should be able to see if it receives the data correctly and if sending works without error messages.
(ref https://github.com/bluerobotics/companion/blob/master/.companion.rc#L25 )

[koppel.bo]

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.
Posting this to BR forum as well, there is a screenshot of the companion testing
Bo

[koppel.bo]

There is a case now in Ardusub Git:
https://github.com/bluerobotics/MAVProxy/issues/5
Bo

[Kevin_K]

This issue should be fixed in Companion v0.0.21: https://discuss.bluerobotics.com/t/companion-release-0-0-21/7612

Another BR engineer and I were out testing it last week in the field and didn’t experience any drop-outs.

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