My quacopter (Pixhawk) crashed while in mission (take off / 4 WPs / RTL), just after the 4th WP. When it recovered the radio, the flight controller switched from AUTO to STABILIZE MODE and then the motors stopped. 3 secunds after, it switeched back in AUTO MODE and started spinning on itself with the motors running.
There's a small camera on board. The flight was recorded, I can see what happened : - the quad passed the 4th WP, one beep (mode switch) motors stop, 3 secunds, one beep (mode switch) motors running, quad spinning on itself while falling. Crash
I tryed to analyse the log but didn't manage to understand how the flight controller switched mode without any action from the radio.
Link to the log.bin : https://www.dropbox.com/sh/3mfjlz6ppphnpr1/AADc5_mFMYD8Y5T6uSthdN5Ma?dl=0
Firmware : APMcopter 3.4.6
Your help is welcome