A few things to try:
- Set governor to conservative https://docs.modalai.com/thermal-and-performance/#governor
- Set mav_1_mode set to normal or minimal
- Try using voxl-cpu-monitor to monitor the usage (better than top)
Which version of voxl-vision-px4 are you using?
- There is a known mavlink packet to cause a crash. The dev branch of vvpx4 has this fixed.