Landing problem

Hello, iam venkat iam using the cube black in my heavy agriculture drone. Iam having the landing problem that when the copter after landing on the ground its not getting disarmed for several seconds and getting tilted to one side with getting throttle itself. At starting i didnt get this problem now it showing this problem. And iam using herelink beta version. Can anyone give the solution to my probelm?

What firmware are you running?
Share log or Param file.
You can reduce DISARM_DELAY value to disarm quicker after landing.
Also check whether ARMING_RUDDER is set to 2 to disarm with sticks.
The tilting is probably due to integral gain windup. Share log.

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