No, not the problem of the thst_expo. Not due to the initial tune not being properly done too. With the default PID parameters, it hovers like a charm without position lock and without pilot sticks input except drops high when pitching and rolling. I am doing in indoor with no wind condition.
I also tried reducing pitch and roll PID by 50%, but it did not start to tune also (engaged but didn’t start).
I run out of ideas about where the settings are wrong. This is not the first drone I do and had attempted autotune successfully before with the 4.0.x version.