Over compensate -> flip over -> crash

Recently I replaced my quad’s motor from a Tarot -> T-motor U5, and on my second flight test, it crashed :tired_face:. After reviewing the log, I found the system is trying to compensate the roll to make it level, however, it become a divergent oscillation (oscillation starts around 5:13.50) and flip the drone and crash into the ground.

Is this because the D_rate is too high?

Here is the log: can anyone help?
https://review.px4.io/plot_app?log=80d9b905-b7a2-423f-a49b-e4c0e281c933