Can someone help me analyze the log？ Crash Copter3.6.0

ArduCopter Copter 3.6
1

Can someone help me analyze the log:

  1. When taking the route, suddenly deviate from the route, and alarm: GPS glitch and EKF variance.

  2. I saw the PWM average 1750, but the UAV still fell down

  3. The whole falling process shows that the attitude is particularly stable.

I don’t know what happened. Can someone help me.

Here is the log:
https://1drv.ms/u/s!AownCgkX5Znvk1yILhBOJce7vd9z?e=zLDKW4

This time, the crash is very strange. PWM is 1750, the attitude is normal, but the UAV falls.

2

i don’t think the main reason of crash was GPS glitch in your log HDOP and NSats is OK

Screenshot_2
Screenshot_21693×537 31.3 KB

but every time when motors goes working harder (maybe against strong wind or break and change waypoint) the Z vibration increase till 80! with clipping

Screenshot_3
Screenshot_31697×534 386 KB

high z vibration will affect EKF measurement and could cause crash

3

I think some motors have stopped, at least two. And our drone itself is very vibrating.