@Alex-Kushleyev
This was a first flight after a completely new flash. Unfortunately a package install failed and we had to unbrick before we had an opportunity to backup the PX4 params. The hover thrust was still in the process of training. We were also flying light because we've had so many issues with the system that we didn't want to risk the payload until we had confidence in the system. A mock payload weight would have helped here.
However that doesn't excuse the awful PX4 programming, not having a catch if the drone starts to fall, a default min xy of 1.5m/s, etc. We've shelved the system and will be using an ardupilot controller until we have time to develop the voxl at a slower pace.