Hahaha, read ‘attitude’ as ‘altitude’. I had that issue too, I solved it by raising ATC_THR_MIX_MAN once the tune is stable, as that determines the priority of throttle control vs. attitude control. Can’t remember what’s my final value but it should be in the param file I’ve posted. Have a look at this thread: Airmode not keeping quad stable for flips/rolls w/throttle low