Accel2 clipping and oscillations


We were testing and tuning a VTOL configuration on a Quadcopter.
After Tuning PIDs, it performed well in stabilized and position mode, but when we gave it full throttle for climbing in stabilized mode, and when it got some speed, we had a sound like rotor speed is oscillating.
And we got accel2 clipping problem.

Looking at the logs, vibrations seem manageable, or so we think.
Also, in the logs we see that roll and pitch commands differ in PWM, so I suspect it’s still not tuned well enough for such high thrust?

These are the logs:

Does anybody have any ideas?