Big Hexacopter Crash after take off

It took off automatically and then suddenly flew in a strange direction. Recognizing the danger, I manually pressed emergency stop, but it fell and the drone was damaged.

As a result of analyzing the log file, the following error occurred.

ERRORS
TIME Subsys ECode Description
09:45:39 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
09:45:46 11 2 GPS: GPS GLITCH
09:45:47 29 1 : OCCURED OR FAILED TO INITILIASE
09:45:48 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
09:45:56 11 0 GPS: ERROR RESOLVED/CLEARED
09:46:03 29 0 : ERROR RESOLVED/CLEARED

The current FC model used is CUAVv5 and the GPS used H-RTK F9P Rover Lite in RTK fix mode.

May I know what is the cause of the error (accident)?

Could it be an IMU calibration issue?

Possibly, if you post a link to the .bin flight log.

I’m leaving you the flight log file.

00000053.BIN (764.3 KB)

One thing to bear in mind for the future which may at least prevent the crash bit, is that if the aircraft starts behaving abnormally, change to Stab mode to bring it down to its least complexity. This can often save the aircraft and allow you to land safely. Not always but definitely a good step to take in your ‘emergency procedures’.

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That craft should not have left the ground on mostly default parameters. Use the Initial Parameter Setup screen in Mission Planners Mandatory Hardware section.