When taking off from home to 10 meters high and then to the next 15 meters high waypoint, why did the helicopter sway left and right, as if it could not find the direction

ArduCopter Traditional Helicopter
1

If my take-off altitude is the same as the altitude of the second waypoint, the helicopter can move towards the waypoint steadily

2

@blue0827ww again, a log showing this behavior is needed to answer your question.

3

Log file:
https://drive.google.com/drive/folders/1sjy6u9LRpEEVG_07nf0WBND25BXUoR3f?usp=sharing

firmware 4.0.5
Traditional helicopter ALIGN 550x
CUBE ORANGE