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?
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.