30 kg VTOL aircraft hovering in attitude mode can control PITCH AND ROLL, if switched to LOITER mode, it cannot be controlled

log file https://drive.google.com/file/d/1Mabi3h6Wqo-UaE5zlFQo2Z5e6ykgIWLq/view?usp=share_link

The structure of the aircraft is relatively loose. If the PID value is too small, the aircraft will be unstable. Is the PID overadjusted?

Attitude mode PITCH, ROLL, YAW can all be controlled, in LOITER mode only YAW can be controlled, others cannot

I found that the parameter Q_loit_speed=30 is set too small, and it has been changed to 1250, and the problem is normal