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Message: <blockquote data-quote="CapTello" data-source="post: 25567" data-attributes="member: 8679">Hi !I will follow your advice and tell you if I get better results.After checking more deeply I found that the drone returns strange posX, posY and posZ values at takeoff (just after reaching the "flying" flight state).For example my posY value goes from a correct 1.11 (when the drone reaches the flight height) to a 30 in just a frame which causes a too big (>2) difference between positions and results in a tracking loss.As you supposed, it may be due to the fact that I turned it on before setting it at the launch point.Will keep you updated.Thanks !</blockquote>