The altitude goes up and down a lot in Loiter

ArduCopter Copter 4.5
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1

20240905_ThO_Occilate
20240905_ThO_Occilate1885×1176 270 KB

Hello everyone.
Yesterday TOW tried to do a QuickTune on a 65Kg aircraft and the aircraft started to move up and down a lot.
I changed the mode from Loiter → AltHold, but there was no change, so I landed it in Stabilize, but the throttle operation was not correct and it landed hard, destroying the battery and the case.
I checked the logs and CTUN.ThO was changing like a sine wave in relation to CTUN.DAlt.
I believe the PID parameters for altitude control are incorrect and am looking into this.
I would like to know which parameter should be checked.
Thank you in advance.

methodic configurator data:

movie:

3

I forgot the flight log data. Sorry.

What I want to know is two things.

  1. why CTUN.ThO oscillates when there is no change in CTUN.DAlt
  2. what contents or parameters to check when 1. occurs.
    Best regards.