While not shown in Mission Planner, ELRS telemetry often shows ‘BAD ACCEL/GYRO HEALTH’ during flight.
At first I thought it was an ELRS error, but the ‘BAD ACCEL/GYRO HEALTH’ was actually an issue that was occurring and was logged. It occurs on both IMU 0 and IMU 1 during flight as shown in the log below.
I looks like this is a Pixhawk 6C running (as you’ve mentioned 4.4.4). I think we have lots of other users using this board and we haven’t heard of issues so I think it is most likely to be a hardware failure and it is probably best to replace the autopilot.
Not happy news of course but the errors occur on both the 1st and 2nd IMUs so just disabling one of the IMUs is not an option.