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Originally the focus of the camera was set before takeoff which could lead to out of focus images when the drone is in the air. We improved the timing of when the camera is focusing (now done shortly after take off). Still, sometimes the Mavic is still not in focus when flying automated missions. Thus we added a focus button which appears shortly after takeoff to the left (shutter icon) when flying an automated mission. You can tap on it and it will send a command to the drone for focusing the camera again.