M300 gets stuck during waypoint mission

[byuarus]

How to reproduce

After flying multiple flights, the M300 would get stuck at a waypoint (at first, in the middle, or over the home location on RTL). No specific waypoint mission configuration. Issue is randomly reproduced: some days multiple times a day (~2 occurrences over ~10 missions) and some times multiple days with no issue (dozens of missions).

What we have observed

• If you RTL/bring the drone home manually and retry the mission, the drone will get stuck at the same location every time.
• No errors are being reported by DJI Diagnostics or obstacle avoidance sensors (I've checked DJI SDK flight records as well, and there is no indication that something is wrong).
• If you restart the drone, the issue disappears, even if you try to refly the exact same mission (by the exact same, I mean the exact same hardcoded takeoff location and waypoints in simulation).
• When the drone gets into this state, I've tried changing the waypoints' heading/altitude/turnMode, but it didn't help; the drone was getting stuck at the same waypoint every time until I rebooted the drone.
• we have tried to disable obstacle avoidance sensors and it didn't help

Stack

• DJISDK 4.16.2
• M300 with P1 camera
• reproducible with FW v06.01.0100 and v09.00.0503.
• iPad Air 5th Gen (WiFi+Cellular), iOS 17.5.1
• XCode 15.2