Px4 not maintaining position

Flight Testing & Log Analysis
1

I’m using a large quadcopter. After takeoff in position mode its not maintaining position. Its keep circling and loosing altitude. Also showing some vibration in Z axis.

Here is the log report:
https://review.px4.io/plot_app?log=bb2280e2-b436-410a-b14a-09d13b51943c

2

Not sure what you mean by “large quad” but rule of thumb is to bring gains down and tune step by step.

These two links would be helpful for you.