Actually I am so confused of this crash.10.BIN (375.9 KB)
Is the question why did it take off at 10 m/s in poshold? I’m not sure. looks like GPS stared to disagree with the other velocity estimate, causing an ekf lane switch.
It was going quickly and you were asking for a fast decent. The motor signals are pinned pretty low.
The accel spike at the end is the ground impact, causing clipping events.