I built a quad with hexsoon edu 450 with a pixhawk ,I’m getting huge oscillations on descent and the quad seems to be noise while correcting its position in loiter.
It’s all here for you:
Follow the steps. All of them. No, really.
You don’t have a filter set up. The pids are not tuned. Compass calibrations are in need of improvement.
Yours isn’t flying bad, but it could fly much better with a little work.
One thing you could do before starting in on the Tuning Guide version of Moby-Dick, which is certainly advisable as stated, is to set these parameters:
INS_ACCEL_FILTER,10
PSC_ACCZ_I,0.46
PSC_ACCZ_P,0.23
Those are set in there as well. No need to repeat it 