I had a similar Problem where the Failsafe apparently was engaged by “No manual control stick input” which was not printed but stated in the log data.
like recommend here ( ROS2-PX4 OFFBOARD triggers Failsafe enabled: No manual control stick input - PX4/PX4-Autopilot ) entering “param set COM_RCL_EXCEPT 4” not fixes it but deactivates this safety measure.
I ended up changing it directly in the drones config.