Unsure, if you have resolved this so I am going to attempt to help but I am going to need more information if possible. I am unsure how the setup is for the drone seems like you have one camera (Tracking_rear) pointed straight backwards and two cameras (Tracking_front, Tracking_down) facing forward at a 30 degree downward angle?
I am not sure that you are showing with the log output.
Have you tried hand testing using the command voxl-inspect-pose -l and seeing how RPY and translational movement (moving the drone up, right, forward) are behaving for the local frame?
