Drone tremors occur

The drone shakes severely when taking off in gps mode.
It takes off stably in the althold mode.
Is there a way to solve this?
I use here3 gps and pixhawk 4.
Firmware is Ardupilot QuadCopter 4.3.8
After the compass correction and motor correction, the tremor was alleviated a little.
2024-02-01 15-27-35.bin (842.0 KB)

Basic tuning. This needs to be tuned. Update to 4.4.4

Follow these instructions:

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