Multicopter thrusts upward violently when flight mode is switched from stabilized to position

PX4 Autopilot
1

The multicopter is able to fly steadily in stabilized mode. However, when we switch to position mode, the multicopter suddenly climbs upward with full throttle even though the roll/pitch and throttle sticks are centered. What could be the root cause for this issue? I have attached the log files for your reference, thanks!

https://logs.px4.io/plot_app?log=4949192e-201b-4a89-8a1c-15be8fc1ef50
https://logs.px4.io/plot_app?log=fb4ae05e-04a9-4418-986a-712f3b7384b8

2

I think you should look into MPC_THR_HOVER parameter.
Can’t see it in your parameter list, but I know I was experiencing something similar until I messed around with it.