MS5837 depth sensor detected as SCALED_PRESSURE2 but “Depth sensor is not connected” (Pixhawk 6C / ArduSub)

Hardware Pixhawk family
,
1

Hi, I’m developing an ROV using a Pixhawk 6C and using the MS5837 as the depth sensor.

When I try to enable Depth Hold, ArduSub shows the message:
“Depth sensor is not connected”, and I cannot switch to the depth-hold-related modes.

However, in the MAVLink Inspector, the MS5837 data is correctly shown as SCALED_PRESSURE2, so the sensor values are definitely reaching the flight controller.

Question

What settings or parameters do I need to configure so that ArduSub recognizes the MS5837 as the depth sensor and allows the use of Depth Hold mode?
Any guidance on the proper configuration or required steps would be greatly appreciated.