@Zachary-Lowell-0 as mentioned I have set offboard-mode in voxl-vision-hub.conf to "off".

I did a flight test shifting to offboard-mode,

The drone was able to execute the script in a stable way without any jittery motions or trying to come back to home position.

These are the flight logs,
https://review.px4.io/plot_app?log=e32a28df-cbba-4765-8499-6fe46e2ff890

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!