Radiolink Minipix issues with Loiter and Land mode

Hello all, I'm having some problems here with my quadcopter with oscillations in land and loiter mode, the Pixhawk is running Arducopter, as you can see it's flying fine in stabilize but has these weird oscillations in loiter and land mode. Anyway if you have an ideas please leave them in the comments. Also no idea why the loss of control, spin and heavy landing at the end, the batteries were still at 45% so that made no sense either..... update, a motor wire came off one off the escs, hence the spin, amazing it stayed stable!

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Видео Radiolink Minipix issues with Loiter and Land mode канала Aeronaughties