Auto mode After reaching a waypoint.Sloshing around and Dro

AUTO mode
After reaching a waypoint
Sloshing around and Drop height (about 5m!)

copter quad
u8 motor 700mm blade

Developers How to set parameters ? :) very thanks
Wheelbase 1030mm
700mm 2blade
weight 6kg
this is auto ture Parameters

Can you get me a dataflash log of this flight?

Thank you for attention to our project :)
Today flight data USE AUTO TUNE
How to make automode more stable ?
Please help optimize parameters
Automatic mode Waypoint arrival we hope slow deceleration