Problems with flight tests with px4

I had a weird problem with the PX4, I wanted to do the autotuning with a 6 arm drone and with a cube Orange controller with PX4. The drone had the default parameters.
I made a first test where the drone did respond to the commands that I indicated. In the second test I wanted to perform the autotune but out of nowhere the drone started to
perform movements that I had not indicated, he wanted the drone to land but it still did not respond to my commands, until he entered the RTL mode and landed.

I hope someone can help me to find the problem of this.Thanks!!!