Pitch Setpoint Oscillations in Hover

Flight Testing & Log Analysis
1

I just completed an autotuning of my drone (Cube Orange+). Before and after the tuning, I had seen rapid low amplitude oscillations in pitch and roll that I would classify as looking like a angular vibration. The log for the test flight after the autotuning is pasted below. I had high rate logging turned on for this flight and because it is a larger drone, I have a lower IMU cutoff frequency. If you zoom into the pitch and pitchrate graphs, you can see that the pitch and pitchrate set points are oscillating when the drone is hovering. Does anyone have and idea of why this might be happening or what I could do to fix this issue. The rapid oscillations are reducing my flight time considerably and make the vehicle look unstable.

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https://logs.px4.io/plot_app?log=06e43d6f-3dde-4c08-b0ab-69d2252f8d39

2

As a followup, I did another flight with fixed (not folding) props to see if prop imbalance was causing high vibration and I had similar pitch set point oscillations.
That flight log can be found here: https://review.px4.io/plot_app?log=c4f5e476-7b24-47db-b5d0-92a268836278