Local Setpoint not getting set for X and Y in Position Hold Mode

We are trying to fly in position hold mode in a GPS denied environment using Optitrack. The altitude keeps a setpoint and is able to hold its altitude. There is no X or Y local setpoint getting set however. It sets it in the beginning but it is not continuous. Please see flight log for more detail:


That’s quite odd. Let me ping @bresch to see if he has an idea.

Ok perfect, thanks for the help. Let me know once you hear more

I see that you’re using MPC_POS_MODE 0, have you tried the default mode? (pos mode 4 “Acceleration based”)