Can't control the drone

Hello everyone, I have Pixhawk 2.1 cube black. I have a quadcopter, I’ve initially struggled a lot to get it flying and done a few crashes, but i eventually was able to make it fly and there was no issue. suddenly now i cant even control it and it wouldn’t stay still in position mode, it keeps on yawing and descending and moving to all kinds of places.
I hope someone can help me, I’ve been really struggling with this.
the flight log is here:
I’ve also done the PID autotuning and it was successful before this series of failures.
and I’ve repeatedly made sure to not have any loose parts that could cause vibrations

But I still think this is a problem caused by vibration (or the adjustment of related parameters about vibration)