Hi @nfored, welcome to the forum 
If your vehicle is rebooting when you apply thrust then it’s most likely a power supply capacity issue that means the onboard computer and/or autopilot are losing power, then turning back on once the power returns.
This comment covers a few approaches to resolving that, including using a higher capacity regulator (e.g. the 5V 6A one we sell, that you’ve said is on the way) and/or power supply, and some autopilot parameter options for mitigation (including limiting joystick gain, as @divebubble has recommended).
Note that, as specified in my link, limiting joystick gain does not apply to the vehicle’s own control systems, so won’t help if there are strong perturbations while the vehicle is in stabilise / depth hold modes. I’d recommend using the MOT_PWM_MIN/MAX parameters instead, as they should scale down the allowable output range (rather than scaling down the pilot’s input range).