Unstable flight during Loiter

Hey guys,
i build a drone for my bachelor thesis but i need the drone to fly more stable because i wanted to record videos.
i have still a few issues with the stabilization.
I flew only in the loiter mode.
This is the .bin log file maybe someone finds something unusual.
I think the roll, pitch and desired roll, desire pitch are to close. Because i have heard that the desired roll/pitch should be before the actual roll/pitch.
But I’m still a beginner…

Is this the same craft from this thread you started?

yes the topic went from RTL landing instability to it’s in general instable so i opened a new thread.