diff --git a/app.py b/app.py
index f61acb7..501edae 100644
--- a/app.py
+++ b/app.py
@@ -8,6 +8,7 @@
 from lib.camera import init_camera, init_ip_camera, init_rpi_camera
 from lib.control_telemetry import init_control_telemetry
 from lib.controller import Controller
+from lib.depth_receiver import DepthTelemetryReceiver
 from lib.json_data_handler import JSONDataHandler
 from lib.log_udp_receiver import init_log_stream
 from lib.net_transport import DEFAULT_ROV_HOST
@@ -28,8 +29,15 @@
 app.config["CONTROLLER"] = Controller(bitmask_client=app.config["BITMASK"], rate_hz=60.0)
 app.config["CONTROLLER"].start()
 
-# Start background IMU receiver (UDP port 5002)
-app.config["IMU"] = init_imu_receiver(port=5002)
+# Start background sensor receiver (UDP port 5002). IMU and depth are separate
+# components, but the MCU currently sends both in the same JSON datagram.
+_sensor_data = JSONDataHandler()
+app.config["DEPTH"] = DepthTelemetryReceiver(data_handler=_sensor_data)
+app.config["IMU"] = init_imu_receiver(
+    port=5002,
+    data_handler=_sensor_data,
+    depth_receiver=app.config["DEPTH"],
+)
 
 # Load saved IMU axis mapping from config
 _config = JSONDataHandler(file_path=data_path("config.json"))
diff --git a/lib/depth_receiver.py b/lib/depth_receiver.py
new file mode 100644
index 0000000..8208b73
--- /dev/null
+++ b/lib/depth_receiver.py
@@ -0,0 +1,62 @@
+from __future__ import annotations
+
+from typing import Any
+
+from lib.json_data_handler import JSONDataHandler
+
+
+class DepthTelemetryReceiver:
+    """Normalizes MS5837 depth telemetry from MCU sensor JSON packets."""
+
+    def __init__(self, data_handler=None):
+        self.data_handler = data_handler or JSONDataHandler()
+        self._last_depth = {}
+
+    def process_payload(self, depth: Any) -> dict | None:
+        if not isinstance(depth, dict) or not depth:
+            return None
+
+        depth_update = normalize_depth_payload(depth)
+        self._last_depth = depth_update
+        self.data_handler.update_data({"depth": depth_update})
+        return depth_update
+
+    def get_latest(self) -> dict:
+        return self._last_depth.copy()
+
+
+def normalize_depth_payload(depth: dict) -> dict:
+    return {
+        "dpt": _coerce_json_number(_depth_val(depth, "dpt")),
+        "dptSet": _coerce_json_number(_depth_val(depth, "dptSet")),
+        "pressure_mbar": _coerce_json_number(_depth_val(depth, "pressure_mbar"), precision=1),
+        "temperature_c": _coerce_json_number(_depth_val(depth, "temperature_c")),
+        "valid": _coerce_json_bool(depth.get("valid", False)),
+        "age_ms": _coerce_json_number(_depth_val(depth, "age_ms"), precision=0),
+        "addr": _coerce_json_number(_depth_val(depth, "addr"), precision=0),
+        "last_error": _coerce_json_number(_depth_val(depth, "last_error"), precision=0),
+        "init_attempts": _coerce_json_number(_depth_val(depth, "init_attempts"), precision=0),
+        "read_errors": _coerce_json_number(_depth_val(depth, "read_errors"), precision=0),
+    }
+
+
+def _depth_val(depth: dict, key: str, default: float = float("nan")) -> float:
+    value = depth.get(key, default)
+    try:
+        return float(value)
+    except (TypeError, ValueError):
+        return default
+
+
+def _coerce_json_number(value: float, precision: int = 2) -> Any:
+    if value != value:  # NaN check
+        return None
+    return round(float(value), precision)
+
+
+def _coerce_json_bool(value: Any) -> bool:
+    if isinstance(value, bool):
+        return value
+    if isinstance(value, str):
+        return value.strip().lower() in {"1", "true", "yes", "on"}
+    return bool(value)
diff --git a/lib/ninedof_receiver.py b/lib/ninedof_receiver.py
index a88053b..2a56351 100644
--- a/lib/ninedof_receiver.py
+++ b/lib/ninedof_receiver.py
@@ -6,6 +6,7 @@
 import time
 from typing import Any
 
+from lib.depth_receiver import DepthTelemetryReceiver
 from lib.json_data_handler import JSONDataHandler
 from lib.runtime_paths import log_path, logs_dir
 
@@ -40,10 +41,11 @@ def _build_remap(axes_cfg, valid_keys=("yaw", "pitch", "roll")):
 class IMUReceiver:
     """Background UDP receiver for VN-100S IMU data (yaw/pitch/roll) from Nucleo board."""
 
-    def __init__(self, host=UDP_IP, port=UDP_PORT, data_handler=None):
+    def __init__(self, host=UDP_IP, port=UDP_PORT, data_handler=None, depth_receiver=None):
         self.host = host
         self.port = port
         self.data_handler = data_handler or JSONDataHandler()
+        self.depth_receiver = depth_receiver or DepthTelemetryReceiver(data_handler=self.data_handler)
 
         self._stop = threading.Event()
         self._thread = threading.Thread(target=self._run, name="IMUReceiver", daemon=True)
@@ -172,6 +174,8 @@ def _process_packet(self, data: bytes, addr: tuple):
         self._log_raw_packet(text)
 
         imu = msg.get("imu", {})
+        if not isinstance(imu, dict):
+            imu = {}
 
         def _val(key: str, default: float = float("nan")) -> float:
             value = imu.get(key, default)
@@ -243,6 +247,11 @@ def _val(key: str, default: float = float("nan")) -> float:
         except Exception as e:
             print(f"IMU: Error updating data: {e}")
 
+        try:
+            self.depth_receiver.process_payload(msg.get("depth"))
+        except Exception as e:
+            print(f"Depth: Error updating data: {e}")
+
     def _log_raw_packet(self, text: str) -> None:
         try:
             with IMU_LOG.open("a", encoding="utf-8") as fp:
@@ -257,8 +266,8 @@ def _coerce_json_number(value: float, precision: int = 2) -> Any:
     return round(float(value), precision)
 
 
-def init_imu_receiver(host=UDP_IP, port=UDP_PORT, data_handler=None) -> IMUReceiver:
+def init_imu_receiver(host=UDP_IP, port=UDP_PORT, data_handler=None, depth_receiver=None) -> IMUReceiver:
     """Initialize and start the IMU receiver."""
-    receiver = IMUReceiver(host=host, port=port, data_handler=data_handler)
+    receiver = IMUReceiver(host=host, port=port, data_handler=data_handler, depth_receiver=depth_receiver)
     receiver.start()
     return receiver
diff --git a/routes.py b/routes.py
index 92fda4d..e28b34a 100644
--- a/routes.py
+++ b/routes.py
@@ -576,10 +576,9 @@ def start_pid_hold():
             return jsonify({"ok": False, "error": "Current attitude is incomplete"}), 503
 
         neutral = _neutralize_thruster_command()
-        setpoints = {**neutral, **attitude_setpoints}
         try:
             client.clear_override()
-            state = client.send_override(setpoints, replay_attempts=5, replay_delay=0.1)
+            state = client.send_override(attitude_setpoints, replay_attempts=5, replay_delay=0.1)
         except Exception as exc:  # pylint: disable=broad-except
             client.set_error(str(exc))
             return jsonify({"ok": False, "error": str(exc), "neutralized": True}), 503
@@ -587,9 +586,10 @@ def start_pid_hold():
         return jsonify(
             {
                 "ok": True,
-                "setpoints": setpoints,
+                "setpoints": attitude_setpoints,
                 "state": state,
                 "neutralized": True,
+                "manual_override": neutral,
                 "units": "deg",
             }
         )
diff --git a/static/css/pilot.css b/static/css/pilot.css
index 81dc4a6..7e2a638 100644
--- a/static/css/pilot.css
+++ b/static/css/pilot.css
@@ -173,7 +173,7 @@
   align-items: flex-start;
   gap: 12px;
 }
-.hud-depth { min-width: 120px; }
+.hud-depth { min-width: 140px; }
 .hud-heading {
   flex: 0 1 280px;
   text-align: center;
diff --git a/static/css/styles.css b/static/css/styles.css
index 5f7d7b7..e91e2a9 100644
--- a/static/css/styles.css
+++ b/static/css/styles.css
@@ -111,6 +111,9 @@ body {
   color: #0dcaf0;
   font-weight: bold;
 }
+.custom-card .text-muted {
+  color: #adb5bd !important;
+}
 
 /* Custom Table */
 .custom-table {
diff --git a/static/js/depth.js b/static/js/depth.js
index 065a026..e400816 100644
--- a/static/js/depth.js
+++ b/static/js/depth.js
@@ -3,7 +3,33 @@ async function updateDepth() {
         const response = await fetch("/api/depth");
         const data = await response.json();
         const depthStatus = document.getElementById("depth-status");
-        depthStatus.textContent = `Depth: ${data.dpt}m / Target: ${data.dptSet}m`;
+        const depthTarget = document.getElementById("depth-target");
+        const depthTemperature = document.getElementById("depth-temperature");
+        const depthHealth = document.getElementById("depth-health");
+        const depth = Number.parseFloat(data.dpt);
+        const target = Number.parseFloat(data.dptSet);
+        const temperature = Number.parseFloat(data.temperature_c);
+
+        if (depthStatus) {
+            depthStatus.textContent = Number.isFinite(depth) ? `${depth.toFixed(2)} m` : "--.-- m";
+        }
+        if (depthTarget) {
+            depthTarget.textContent = Number.isFinite(target) ? `${target.toFixed(2)} m` : "-";
+        }
+        if (depthTemperature) {
+            depthTemperature.textContent = Number.isFinite(temperature) ? `${temperature.toFixed(2)} °C` : "--.-- °C";
+        }
+        if (depthHealth) {
+            const addr = Number(data.addr);
+            const addrText = Number.isFinite(addr) && addr > 0 ? `0x${addr.toString(16).padStart(2, "0")}` : "--";
+            if (data.valid) {
+                depthHealth.textContent = `VALID age ${data.age_ms ?? "--"} ms addr ${addrText}`;
+                depthHealth.className = "text-success mt-auto";
+            } else {
+                depthHealth.textContent = `INVALID err ${data.last_error ?? "--"} tries ${data.init_attempts ?? "--"} addr ${addrText}`;
+                depthHealth.className = "text-warning mt-auto";
+            }
+        }
     } catch (error) {
         console.error("Error fetching depth:", error);
     }
diff --git a/static/js/pilot.js b/static/js/pilot.js
index 338d333..3ca2ad2 100644
--- a/static/js/pilot.js
+++ b/static/js/pilot.js
@@ -143,8 +143,16 @@
       const d = await res.json();
       const el = document.getElementById("hud-depth");
       const tgt = document.getElementById("hud-depth-target");
+      const temp = document.getElementById("hud-depth-temp");
+      const health = document.getElementById("hud-depth-health");
       if (el) el.textContent = d.dpt != null ? parseFloat(d.dpt).toFixed(1) : "--.-";
       if (tgt) tgt.textContent = d.dptSet != null ? parseFloat(d.dptSet).toFixed(1) : "--.-";
+      if (temp) temp.textContent = d.temperature_c != null ? parseFloat(d.temperature_c).toFixed(1) : "--.-";
+      if (health) {
+        const addr = Number(d.addr);
+        const addrText = Number.isFinite(addr) && addr > 0 ? `0x${addr.toString(16).padStart(2, "0")}` : "--";
+        health.textContent = d.valid ? `VALID ${d.age_ms ?? "--"}ms ${addrText}` : `ERR ${d.last_error ?? "--"} ${addrText}`;
+      }
     } catch (_) { /* silent */ }
   }
 
diff --git a/static/templates/layout.html b/static/templates/layout.html
index 8513820..7e97b93 100644
--- a/static/templates/layout.html
+++ b/static/templates/layout.html
@@ -21,7 +21,9 @@ <h5 class="card-title">Battery</h5>
       <div class="card-body d-flex flex-column">
         <h5 class="card-title">Depth</h5>
         <p id="depth-status" class="display-6">Loading...</p>
-        <small class="text-muted mt-auto">Target: <span id="depth-target">-</span></small>
+        <small class="text-muted">Target: <span id="depth-target">-</span></small>
+        <small class="text-muted">Temp: <span id="depth-temperature">--.-- °C</span></small>
+        <small id="depth-health" class="text-muted mt-auto">Waiting for telemetry...</small>
       </div>
     </div>
   </div>
diff --git a/static/templates/pilot.html b/static/templates/pilot.html
index 22e8d28..6b3dfb0 100644
--- a/static/templates/pilot.html
+++ b/static/templates/pilot.html
@@ -31,6 +31,10 @@
         <div class="hud-sub">
           TGT <span id="hud-depth-target">--.-</span>m
         </div>
+        <div class="hud-sub">
+          TEMP <span id="hud-depth-temp">--.-</span>°C
+        </div>
+        <div class="hud-sub" id="hud-depth-health">NO DATA</div>
       </div>
 
       <!--
@@ -171,4 +175,4 @@
 
 <link rel="stylesheet" href="/static/css/pilot.css">
 <script src="/static/js/pilot.js"></script>
-{% endblock %}
\ No newline at end of file
+{% endblock %}
diff --git a/tests/test_protocols.py b/tests/test_protocols.py
index cda4d83..5b785e9 100644
--- a/tests/test_protocols.py
+++ b/tests/test_protocols.py
@@ -1,11 +1,16 @@
+import json
 import struct
 
 import pytest
+from flask import Flask
 
 import lib.control_telemetry as control_telem
+import lib.depth_receiver as depth_telem
+import lib.ninedof_receiver as ninedof
 import lib.resource_receiver as resource_telem
 from lib import axis_config_sender, bitmask, crc, net_transport, pid_config_client, system_control_client
 from lib.json_data_handler import JSONDataHandler
+from routes import register_routes
 
 
 class DummyHandler:
@@ -16,6 +21,49 @@ def update_data(self, payload):
         self.last_update = payload
 
 
+class DummyDepthReceiver:
+    def __init__(self):
+        self.last_payload = None
+
+    def process_payload(self, payload):
+        self.last_payload = payload
+
+
+class DummyImu:
+    def get_stats(self):
+        return {
+            "age_ms": 100,
+            "last_data": {"roll": 12.5, "pitch": -3.0, "yaw": 181.0},
+        }
+
+
+class DummySetpointOverride:
+    def __init__(self):
+        self.cleared = False
+        self.sent_axes = None
+
+    def clear_override(self):
+        self.cleared = True
+
+    def send_override(self, axes, replay_attempts=3, replay_delay=0.05):
+        self.sent_axes = dict(axes)
+        return {"active": True, "axes": dict(axes)}
+
+    def set_error(self, message):
+        self.error = message
+
+
+class DummyManualOverride:
+    def __init__(self):
+        self.last_axes = None
+
+    def set_debug_override(self, axes):
+        self.last_axes = dict(axes)
+
+    def set_from_axes(self, **axes):
+        self.last_axes = dict(axes)
+
+
 def test_crc32_ieee_standard_vector():
     # Known-good IEEE 802.3 vector
     assert crc.crc32_ieee(b"123456789") == 0xCBF43926
@@ -114,6 +162,108 @@ def test_resource_telemetry_updates_json_handler(monkeypatch, tmp_path):
     assert receiver.get_udp_counters() == (84, 0)
 
 
+def test_depth_receiver_normalizes_ms5837_payload():
+    handler = DummyHandler()
+    receiver = depth_telem.DepthTelemetryReceiver(data_handler=handler)
+
+    result = receiver.process_payload(
+        {
+            "dpt": "1.234",
+            "dptSet": 2,
+            "pressure_mbar": 1013.26,
+            "temperature_c": "18.5",
+            "valid": "true",
+            "age_ms": 42.4,
+            "addr": 118,
+            "last_error": -5,
+            "init_attempts": 3,
+            "read_errors": 1,
+        }
+    )
+
+    assert result == {
+        "dpt": 1.23,
+        "dptSet": 2.0,
+        "pressure_mbar": 1013.3,
+        "temperature_c": 18.5,
+        "valid": True,
+        "age_ms": 42.0,
+        "addr": 118.0,
+        "last_error": -5.0,
+        "init_attempts": 3.0,
+        "read_errors": 1.0,
+    }
+    assert handler.last_update == {"depth": result}
+
+
+def test_pid_start_sends_only_attitude_setpoints():
+    app = Flask(__name__)
+    register_routes(app)
+    imu = DummyImu()
+    setpoint_client = DummySetpointOverride()
+    controller = DummyManualOverride()
+    bitmask_client = DummyManualOverride()
+    app.config.update(
+        IMU=imu,
+        SETPOINT_OVERRIDE=setpoint_client,
+        CONTROLLER=controller,
+        BITMASK=bitmask_client,
+    )
+
+    response = app.test_client().post("/api/pid/start")
+
+    assert response.status_code == 200
+    data = response.get_json()
+    assert data["ok"] is True
+    assert data["setpoints"] == {"roll": 12.5, "pitch": -3.0, "yaw": -179.0}
+    assert setpoint_client.cleared is True
+    assert setpoint_client.sent_axes == data["setpoints"]
+    assert "heave" not in setpoint_client.sent_axes
+    assert controller.last_axes == {"surge": 0.0, "sway": 0.0, "heave": 0.0, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}
+    assert bitmask_client.last_axes == controller.last_axes
+
+
+def test_imu_receiver_delegates_depth_payload(monkeypatch, tmp_path):
+    monkeypatch.setattr(ninedof, "IMU_LOG", tmp_path / "imu_raw.ndjson")
+    handler = DummyHandler()
+    depth_receiver = DummyDepthReceiver()
+    receiver = ninedof.IMUReceiver(data_handler=handler, depth_receiver=depth_receiver)
+
+    depth_payload = {
+        "dpt": 0.0,
+        "dptSet": 0.0,
+        "pressure_mbar": 0.0,
+        "temperature_c": 0.0,
+        "valid": False,
+        "age_ms": -1,
+        "addr": 0,
+        "last_error": -5,
+        "init_attempts": 39,
+        "read_errors": 0,
+    }
+    packet = json.dumps(
+        {
+            "imu": {
+                "yaw": -126.98,
+                "pitch": -5.45,
+                "roll": 179.55,
+                "yr": 0.03,
+                "pr": 0.0,
+                "rr": 0.1,
+                "ax": -0.002,
+                "ay": 0.001,
+                "az": -0.002,
+            },
+            "depth": depth_payload,
+        }
+    ).encode("utf-8")
+
+    receiver._process_packet(packet, ("10.77.0.2", 5002))  # pylint: disable=protected-access
+
+    assert handler.last_update["imu"]["yaw"] == -126.98
+    assert depth_receiver.last_payload == depth_payload
+
+
 def test_json_data_handler_creates_parent_and_preserves_sections(tmp_path):
     data_file = tmp_path / "nested" / "data.json"
     handler = JSONDataHandler(file_path=data_file)