Hexacopter flies good in stabilize and alt hold mode but oscillates at poshold and loiter

Hi everyone,
I am using a hexacopter I have completed first flight guide. It was flying okay at stabilize and alt hold modes. Then I tried to autotune but autotune failed with “failing to level, manual tune may be req” message. Then I tried to fly with poshold and loiter modes both resulted in high oscillations and minor crashes. I am not sure about what is going wrong. I am using a Cube Orange and Here2 GPS. Logs are provided. I will be appreciated if you could help me fix it.



Hi i am having the same issue can you let me know what you did for this error???