Bad position control - need help, log included

Hello, i’m very new to using px4 and recently having serious problems in flight test.
I’m using pixhawk 4, px4 firmware v1.9.1 with Qgroundcontrol for with DJI f450 frame.
Additionally, for altitude measurement, i added TFmini Lidar sensor and changed corresponding parameters.

I basically followed the guides in this site and remained all other settings in default.

So i expected my drone to fly well, but as shown in the log below, when i arm and switch to position mode, it actually does not follow my setpoint command at all…

I think it needs serious control gain tuning process or something,
Can anyone diagnose this problem?
Any help is appreciated.
Thank you

I’ve already followed up here: