Wobbling problem in land mode on hexacopter drone

ı have very serious problem for hexacopter with pixhawk 2.1 flight controller. The version I use is 4.0.3. I am using the initial parameters in the ardu copter. It does not cause any problems in loiter and automatic mode in cruis flights. But when it goes into landing mode, it suddenly starts to become unstable. When swinging excessively in the roll and pitch axes, accident is inevitable. I have the same problem when it goes down in loiter and alt hold mode. If there is a load in take off mode, it becomes unstable again.

if you have any information about that problem and help me ı will very happy ,
thanks …

Do a tuning. If it seems to fly stable in calm condition it does not mean that during land it can handle the turbulent air. Start with https://ardupilot.org/copter/docs/tuning-process-instructions.html and do an autotuning.

And before doing a autotuning, do a “dynanic Notch filter parameterization”. It will give you much better results.

thanks for reply… How can I set dynamic Notch Filter Parameterization… I’m reading https://ardupilot.org/copter/docs/common-imu-notch-filtering.html and https://ardupilot.org/copter/docs/common-imu-fft.html
But I don’t understnd what I should to do

Please post objective questions. That page already explains it. What exactly do you not understand

@Peter2 If the coptor is oscolating as it decends it could be a tuning issue and can be resolved by lowering pIDs. I have found autotune sets these aggressively. You may be able to see the coptor over- correcting when you twitch it on the roll and pitch axis begin by gradually lowering these until the oscillation is gone

Supply details of props, motors, battery, frame size and take off weight.
Get a .bin log and upload it to dropbox or similar, and share the link here.