Pixhawk mini - vibration alert and failsafe - Need Help

Hello guys
I am hoping someone has come across this issue - Flying the craft in Loiter mode everything perfect - as soon as another flight mode is selected such as POS-Hold or Auto the craft launches 10 meters in height, throws a vibration alert and GPS glitch - I have reloaded parameters and fully re calibrated the craft - still doing the same thing. In Loiter mode the craft flies beautiful - Any assistance to here would be greatly appreciated