Tuning PID controller on ASV

Hi, I’m trying to control custom ASV with pixhawk and position control. However, when I set position goal while being in position mode it goes crazy, spinning in place and most of the time not even moving forward. I tried changing gains of PID controller starting from integral and derivative set to 0 and testing different values for proportional gain unfortunately without any success. Do you have any suggestions where to start from with this issue? Here is log analysis from last run: https://logs.px4.io/plot_app?log=bdc68acd-3ab5-4766-95fe-5b201c60ec70