Unstable behavior in offboard mode indoors flight

On the firsts trials flying in offboard mode indoors using px4flow and vision for position estimator the drone seems to be unstable when it starts moving on XY plane. However it is quite stable when it holds its position.

The position estimatior used is the inav.

In my opinion it seems a problem with the control of the position, but I’m not able to say if it is due to the latency of the visual position estimation or the PID parameters of the MPC.

Is someone have any suggestion or opinion I would appreciate that.
Thanks in advance.

Try using LPE estimator not iNav with px4flow.