After running "voxl-configure-px4-params --platform MRB-D0006" to configure RB5 PX4 parameters, I could perform an outdoors flight with RB5 using Position Flight Mode without GPS or motor problems: https://youtu.be/D8zP0hOx8wc
It seems that the issue was RB5 running with Sentinel PX4 parameters after SDK upgrade.
Thank you for your help