We are still trying to figure out the best approach for making sure the X5 camera is focused. Focusing while you are moving in the air is hard. We HIGHLY recommend only using the automatic exposure setting. Trying to get fancy with the aperture isn't supported at this point.
In order to attempt to make sure the camera is focused properly for changes in terrain we pull a focus from the center after every image we take. The problem with this method is that the aircraft is moving and the contrast-based autofocus method is given a moving target. Sometimes it will miss the moving target...
The way to fix this is to fly much slower than you usually would. Yes, this further limits the amount of area that can be collected with the X5 but at least the camera will have a chance at focusing properly.