What I am trying to do:
Attempting to fly to indoor waypoints using voxl-mapper
What actually happens: (error messages, behavior)
I only got it to work so far when changing the vision-hub config file to use trajectory for the offboard_mode field. However, I noticed that the motors seem to be sputtering/making weird noises as soon as I put the vehicle into offboard mode in PX4. Have you seen this before/are you familiar with what could be causing it? The drone is able to fly to the waypoint despite these odd motor noises.

The drone flies normally and does not have this behavior in position mode.
Steps to reproduce:
Enable trajectory mode in the voxl-mapper config file and attempt to send drone on a waypoint indoors in offboard mode.
Logs / pictures: (attach files; PX4 logs -> https://logs.px4.io)