AVR Recon Path Timing

Hello, I am having trouble with the timing on the AVR drone, which is especially important for autonomous operations. My code for a test recon path is here: AVR Test Recon Path - Pastebin.com
The FCM says something around the lines of “I’m busy” and doesn’t execute the recon path. What could be the problem?
(Note: I’ve seen people using box.run_non_blocking() in their code. What does this do?)