Oscillations during flight - Pixhawk Mini


I am using
Frame - Martial 2 220mmracing frame - Martian Frame
Flight Controller - Pixhawk Mini
Firmware - Px4 1.6.5 stable version
Airframe type ~ generic x

As soon as the UAV takesoff in stabilized/manual mode (the only 2 modes i used) there are major oscillation/vibration. I tried to tune the MC_Roll_P/ MC_Pitch_P but it made no difference. I also tried to tweak MC_Rollrate_D/MC_Pitchrate_D but didnt see any difference. What can I do to have a stable flight/no oscillations? Is PID tuning the only solution ?