I’ve had this problem a few times in the past. Landing and restarting the drone has cured it at the time. I usually set the focus at infinity 
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If you put any camera into manual focus, and don’t set it to infinity, then yes it will all come out blurred. Except of course the bits you manullay focussed on??? Sorry ifI’m being really thick here but I actually don’t think there is a problem?
It’s either in manual or automatic, can’t be both at the same time can it?
So the Autofocus is faulty, send it back if still under warranty
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@mynameisjoe . Sorry to simplify, if I have my drone in autofocus, then all my footage is blurred. If I change it to manual mode and set to infinity then its fine.
Aahhh, sometimes simple is good for my brain!!! In that case, it would indeed appear you have a problem!l, or rather your poor drone has!!! And of course @SparkyFPV is spot on!!! If the autofocus is not working then it needs to go back under warranty.
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