Unstable takeoff and hovering with VIO

Hi there,

I am running VIO algorithm and perform takeoff and hovering, but the behabior is very unstable. The drone is drifting everywhere. Here is the flight log. I tried a lot of PID tuning and I am sure my VIO is accurate. My question is how to tune my PID to improve the results or is there any other problem with my setting?


thanks in advance