UAV shake

I am using navio to do image based control for UAV recently. However, when I use controller to elevate the UAV(in loiter mode), it shakes all the time. If I use stabilize mode, it will fly away even the pitch and roll sticks are not touched. Does anyone know how to solve these? I have never done tuning stuff.

do you use an anti vibration mount?
Did you balance your props?
post a log/video of one of your fligts for further help!