After starting, the controller throttle was not raised, but the motor PWM was maxed out

This is CubeOrange Hexa 4.1.0 firmware.

Hello. I’ve confirmed that there is a problem with the aircraft I built in the past.
Started the motor at Loiter. Check that the motor rotates at idle.
After a few seconds, all motors suddenly spun rapidly and the aircraft rose about 20cm. As you can see in the graph below, the throttle on the remote controller was not raised.

Of course, it’s not the latest stable firmware, but… is it a problem with the internal compass?
I’m not sure what causes this.
I can’t find the cause by analyzing the logs, so I need your help.
thank you