Copter EKF_CHECK-2, almost crash

Log Analysis -- deprecated Copter Logs -- deprecated
1

Hi

Need help understanding what might be the cause for this EKF-CHECK-2 error and the lack of control that followed.

https://drive.google.com/file/d/1IE5Z064SDHaF5_rKKfrbyCfLGuUvM1jV/view?usp=sharing

Thanks