Strong thrust oscillations in attitude and position mode

Flight Testing & Log Analysis
1

Hello,

I have a very stable drone in stabilized mode but very stong thrust oscillations in attitude and position mode, I’ve almost lost my drone with that.
Can you help?

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MY setup:

Frame : large hexa copter
Motor : Hobbywing X6 FOC
FCU : pixhawk 4 + GPS-RTK
TX/RX futaba FX22

The logs are available here:

postition : https://logs.px4.io/plot_app?log=d1c485bf-c83f-4737-9efa-e69d25cc9812

attitude : https://logs.px4.io/plot_app?log=30435e8d-3d46-4430-9417-1b3bafb9934f

Bests.

2

Same issue here on arducopter, fixed by lowering motor Throttle Accel to minimum value 0.2, but after increasing Speed down for loiter mode, drone just crashed…