Unstable with full battery

In the first 20 - 30 seconds of flight with a freshly charged battrey if I go into any mode other than stabilize my quad becomes very unstable with extream pitch and roll. After flying for a bit all modes work normally, I am runnung an apm 2.6 with the latest firmware and a 3s 5000 battery. Does anyone have an idea what could be causing this behavior?

Reduce P term.
It’s simply tuned with show voltage, and less performance than a fresh battery gives.