LOCAL_POSITION_NED showes extreme vertical drift

Flight Testing & Log Analysis
1

Current Setup:
Holybro Kakute H7 mini

Firmware:
tried both main and release/1.16 branch from github, results stay the same

Expected Behavior:
LOCAL_POSITION_NED data x y and z should somewhat stay the same when I hold my copter still

Current Issue:
Drifts extremely bad, sometimes having a vertical speed up to 10m/s, but data in HIGHRES_IMU seems normal.

I’ll try to upload a video in the following posts for further troubleshooting

Please advise.

2

Please post a log (logs.px4.io) and note that you need GPS (or something like flow) for the position to make sense.