@DronAlan With 1.6.3 SDK upgrade, did you test against the figure 8/offboard mode? Also flying in position mode after drawing the trajectory, if you manually fly the path you created, does the drone follow correctly? If position mode manual flying is working fine and figure 8/offboard mode is working fine (a clockwise figure 😎 then we have a trajectory calculation problem on the voxl-mapper side (I'll check our code, but our QA currently show that was working properly).
Since you're using OpenVINS vio module now, there's an unlikely chance of a reset causing a 180 orientation change by design. Also make sure qvio is disabled. You can check if it's running via voxl-inspect-services and run systemctl disable voxl-qvio-server (+reboot).