Position mode makes zero attitude setpoint

I’m exploiting PX4 v1.10.0 with Pixhawk4.

When I control with position mode, PX4 cannot generate attitude setpoint well.

Here’s log data.

From 17:24, roll and pitch angle setpoint is generated as zero, and quadrotor UAV flows in constant speed.

I think there is some bug when velocity setpoint is converted to attitude setpoint.

Is there someone who is suffering from same issue or can solve that issue?

Thanks.

-Gangik Cho-