Hi @abdullah , Was the PX4 FW version changed at any point? We have seen some performance issues with PX4 1.11 and the position controller. I see in your logs you have v1.11.2 going. Is there anyway to load the ModalAI 1.10 FW as a data point and see if the flight performance changes? https://docs.modalai.com/flight-core-firmware/#px4-v110 Thanks!