The vast majority of pictures taken with our Nikon S210 end up out of focus. It doesn't seem to matter whether the flash is on or off. Action or still shot. Close-up or far way. Very frustrating.
Is the lens clean? Are you pressing the shutter button half-way and giving the camera a chance to lock in the focus (it will beep) before pressing the rest of the way? Do you actually move while pressing the button? Try taking a few pics while the camera is on a tripod or a firm surface to eliminate movement.
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