When I tested using h743 to add more sensors, I connected the wrong power supply to the external module, causing the two imu to fail, but the STM32H743 did not restart. This surprised me. But the flight controller after losing the gyroscope output a false alarm. And keep going in circles. If you encounter this situation during the flight (of course it is unlikely), it seems that you can return to the flight by switching to manual mode immediately.
I’m just sharing some special cases. 
