@Amin-Bassiri Is it flying nicely in both manual and altitude hold modes? The first step is making sure those work well. For position mode I would start with GPS / Mag / Baro instead of VIO and make sure that works well. Then, after all of that seems to be working well, move on to VIO. For point #1, what do you mean that mag is not valid? For point #3, are you loading a specific parameters file? For example: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-px4-params/-/blob/master/params/v1.14/EKF2_helpers/outdoor_gps_baro.params?ref_type=heads