Serial communication (via USB) from RPi 4 to pixhawk cuav V5 autopilot unit. Disabled the GPS and used an mtf-02 optical flow and lidar sensor. When the mode is switched to offboard yaw estimate error and velocity estimate error appeared.
After a firmware update and sensor calibration yaw estimation error was removed. But velocity estimate error appears when offboard mode was selected. In the same parameter settings, under manual mode uav is getting armed. Default mav, serial, ekf2 parameters were used for optical sensor configuration.
Screenshot was taken under mission flight mode while checking the optical flow sensor under same parameter settings.
As it seems that the errors are preflight check errors and none of them appeared while flying mission
I don’t know, but you should provide logs to aid debugging by those who do.