@Moderator @James-Strawson .
Thanks for your suggestions.
I could not use mapper with SDK 1.1.3, and the old qrb5165-imu-server (0.6.0). During "apt-get install voxl-mapper", it said that the mapper needed imu version >=1.0.1. I also want to report that I tried these tests with SDK 1.2.0.
SDK 1.2.0 performs well and has no z-axis drift issue. So there is no z-axis drift in SDK 1.0.0 and 1.2.0.
There is a different issue about the VIO now,
After consistent testing, drifts accumulate much faster, making point-to-point planning hard. The VIO drift was visible in the Figure-eight offboard mode. This is not just in SDK 1.2.0
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I have followed all the steps in the VIO troubleshooting guide. Nothing seems to help. I've made sure the cameras are clean and are recalibrated ( reprojection error = 0.22). There are enough features ( & illumination) and the quality of QVIO was always high. It is much worse than before and doesn't even work for short distances.
Any help/suggestions would be greatly appreciated
Thank you,