On Ardupilot firmware, my quad flies really good, but on PX4 firmware it doesn’t

Hello guys.
in my case,
my Quad(motor to motor : 900mm class) has CUAV Nora FC,
16000mAh 12S batt’,
and 5015 150KV motors.
but there is little problem. I don’t know about exact specifications of the ESC. it just 40A.
The distributor said, it is FOC type and that type has not necessary ESC calibration.(honestly, i can not understand what that means)

I flashed firmware Arducopter 4.1.0 for Nora in mission planner.
so i setted basic config.(Frame, sensors, radio etc.)
it flies very well in stablize, althold and loiter modes. there’s no fluttering.

but i have to use QGC. so i flashed PX4 firmware(1.12.3 CUAV Nora default) in QGC, and flying attitude is so weird.
in all modes(stab’, alt’, loit’) Quad is vibrating irregularly.
Even with PID tuning, the vibration did not go away.

here is ulog link.

what am i missed? TT