DroneKit Computer vision

Hello everyone
I am working on an object tracking drone project, using Ardupilot 4.0.6 and DronKit 2.9.2
Controller Raspberry Pi 4 with Navio2

While controlling the drone using RC or Waypoints it seems to respond well but when uploading python scripts missions whether it GPS coordinates or Velocity it is not responding well and sometimes drifting right or left or going up!

Currently I can not access the logs, when trying to download logs it says “error in log timeout on read - GetLog”

Should I consider hardware fixes like adding Lidar or Sonar and Optical Flow ?
Or maybe look for an alternative API instead of DroneKit ?

ROS Melodic + MavROS is usually better.

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