@Alex-Kushleyev This is very helpful. My major issue however is a lack of quality for which I am struggling to understand,Quality1.png
This is using the Voxl 2 Mini, SDK 1.1.3 with the OV7251 sensor. Other platforms I've built with this sensor have no issues maintaining over 50% quality in this environment (albeit on the full VOXL 2, this is my first time using the mini). It also seems to have issues with the calibration, I've already replaced the tracking sensor with no change. The quality of the picture is equivalent to what I'd expect as well. Tomorrow I am going to try and upgrade to SDK 1.2 to see if there is a difference.