px4-sitl gazebo octocopter

[HYOJUJEONG]

I have built an octocopter model using sdf and launch airframes based on iris. I have continuously adjusted the moments of inertia (MOI) and kept modifying the parameters. However, after takeoff, when it reaches the target altitude, it keeps drifting to the side.

I’m at a loss what to try next so any help is much appreciated.

Thanks

https://review.px4.io/plot_app?log=cd0b5c3b-30a6-460c-ad8a-857654e46c31
https://github.com/HYOJUJEONG/A4-VAI-test/blob/main/s2000.sdf