Wrong physics - wild bouncing object after drop / fall

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Hi,

I have a simple model of a UAV. 4 feets and a body. When I start a simplified world and drop the model, it "goes wild". See the video. The issue can be resolved when changing "physics > ode > solver > iters" from 10 to 50. But the model should work with the Px4 worlds and there the iterations are set to 10 in every world.

Can anyone tell me what friction, stiffness, damping etc. parameter might fix the issue? I feel like I tested them all and nothing works.

Here is the model: my-uav-test.world

Here the video: https://vimeo.com/529247197

Running Gazebo 11 on and Ubuntu 20.04 LTS system with GPU (GeForce GTX 1650)