How to tune the loiter PIDs?

I’m going to ask a question about pid tuning.

Flight is stable in stablize mode or altitude hold mode.

But in loiter mode or position hold mode, like in high pid

It’s shaking. Is there any suspect cause?

The loiter PIDs are a separated set of parameters. Take a look at Loiter Mode — Copter documentation

Post a link to a flight log where this was witnessed. It’s usually a basic tuning issue.