PX4 Instability and not hovering

Hi! First things first, i’m brazilian guy who’s trying to make a dodecarotor drone, sorry about my english and try to be pacient.
This is my second drone, a bigger drone to carry heavy things, in my first try, i made a smaller version and fly nicely, now i’m having problems with instability and a really hard time to make him hovering.

Here’s my Logs file: