Some problems about abnormal flight log

Hello everyone, during my outdoor flight today, my plane showed serious instability in offboard mode. Observe its log, I have a few questions to ask you.

  1. Why is there no data for setpoint

    2.At that time, I was at 0 meters, but the GPS recognized it as 60 meters, and the data was very abnormal

    3.There was a period of time when the deviation was particularly large, but I don’t know why
  2. The local coordinate system is very different from the estimated value,
    2021-07-19 22-08-04 的屏幕截图
    5.The following is a piece of code I wrote myself, but I don’t quite understand the meaning of two mistakes on the way

    Here is the script link
    Script in ROS::
    ROS terminal output::