what am i doing wrong?

[goodnerdboy]

Hi guys.
I have this multicopter i want to use with iNav. I usually flight betaflight, but have no experience with iNav.
I have a Matek 3901-L0X, and a M9N installed, and the controlleur is a Matek 722-SE with a DPS310.
Althod is somehow working, i think i just have to tune the hover value. But about Poshold, whatever i try the mc just climbs.
Here is a blackbox, and there are jumps in the values when i change the flight mode that i don't really understand.
blackbox
and a link to my dump:
Dump
Any help here would be greatly appreciated.
Thanks