Thrust oscillations and strange behavious in attitude mode

I have strong thrust oscillations in actuator charts - (mission mode). When I try to fly in Attitude mode - I can non land drone: in down stick position it makes up and down jumps near the ground. Could you please help with pixhawk tuning to solve this problem? I have no experience with this type of controllers unfortunately.

My setup is: frame 450mm, motors T-Motor F80 1900kV, ESC T-Motor F55A, Pixhawk 4 mini (holybro).