Swing roll/pitch when changing flight mode

Hello folks,

Changing flight mode as in the below causes swing roll/pitch.
Altitude -> Position
Altitude -> Hold
Stabilized -> Position


Could you help me to figure out why this swing roll/pitch happened?
Thanks!

Test environment

  • PX4 master version
  • Gazebo 9.13.1
  • Wind speed: 0

FYI, https://review.px4.io/plot_app?log=dc3e19d2-c7f8-46b2-86d5-fbc3aabdda45