Help! Drone goes crazy in position mode in random moments

After takeoff in manual mode i switched it to position and noticed that drone is rotated on one side maybe 10 degrees, after that it stabilised. Then when it was in position mode again after going back and stopping it rotates on huge amount of degrees and stabilises again. What can it be and how to solve this kind of problem?
it is 20:08 on log file
https://logs.px4.io/plot_app?log=0f1f17ca-3abf-46cd-ab98-0daab63f8061