How can I fly my pixhawk drone in optitrack?

Dear developers, I encounter some problems when I fly my drone in Optitrack. I use a Raspberry Pi 3 MODEL B+ as the computer on the drone. And I run mavros in the computer. The firmware I download into pixhawk is lpe(px4fmu-v2_lpe) complied from the source which I git clone from the github, GitHub - PX4/PX4-Autopilot: PX4 Autopilot Software. And I follow this link(Indoor flying β€” RISC-Docs 0.1 documentation) to setup the parameters with QGC, what is more, before I run offboard node like(, I aligned the front of my drone with x axis of the optitrack, however, when I run the offboard node, the drone fly up, but it cann’t hover at the expect point, what is more, it Rotate 90 degrees aiming to the East, then it drift or even fly out of control. Could you please tell me how to deal with it?

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