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You should take a look at the ardrone_autonomy documentation to check see how to check what state your drone is in. I remember from using this (about a year ago) that when you're sending twist commands you're in the Flying state which I don't believe uses the drone's own stabilization control loops.
According to the docs, in order to have the drone drone in "auto-hover" mode you need to send a geometry_msgs/Twist message with all zeros except for non-zero values on the angular.x and angular.y components. This shows that you really can't expect stability during takeoff using geometry_msgs/Twist messages without implementing some kind of control loop.
If you're just having the drone takeoff then you should use the ardrone/land service and you should see better behavior.
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