Quite different outputs between actuator 0,1 and 2,3

I used px4flow and EKF2 for my quad to hold the position. When I switched to POSCTRL, the vehicle could keep stable for several seconds and then it began to vibrated and rotate in yaw. I found from the log that the actuator outputs 0,1 were smaller than 2,3, and motor 3,4 were overheated.
I have already calibrated the ESC and I don’t know why it coming.