Vibrations in LOITER mode when using Optical Flow and Rage Finder

The Holybro x500v2 pixhawk 6c I built works perfectly when I use the GPS, but as I want to fly it in the interior, when I deactivate the GPS it strarts vibrating mid-flight. Is it a problem of the Optical Flow / Range Finder? I can provide mor information about the drone if needed.

Thank you very much :slight_smile: