Offboard mode exists a little drift and small oscilation

We are doing offboard mode (autonomous flight). In general, it works as expected, but there is some small oscillation and drift in x, y, and z directions. How can we optimize the tracking performance?

Please see our flight log:

and video:

Thanks in advance


The PID charts are blank, I have no idea why. But it shows it tracking the setpoints very nicely. You need to log what your offboard processor is sending over. I have a feeling you need to fuse IMU data with the offboard data.

BTW My drones in atti mode are more stable than that indoors - no gps, no wind, just optical altitude, compass and IMU.

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