CRASH HolyBro Pixhawk 4

Can anyone help me, I’m using a HolyBro Pixhawk 4 with Mission Planner 1.3.66 and firmware 3.6.9, for the second time I have strange reactions on the flight, the first one seems to have entered Failsafe, 2 meters high and now flying with everything perfect came into CRASH shortly after a more closed turn falling without any explanation, escs and GPS were calibrated
I have tried to solve an EKF problem that turns red and only releases after some time that the GPS connects more than 5 satellites.
Other problem are the engines, I can not stabilize in the log, even using various calibration settings in Mission Planner, I have escs DYS ARIA 40A ESC 3-6S BLHeli_32 Dshot1200
I do not know if these problems may have occured the problem, I ask for help


Log File C:\Users\aniba\Documents\Mission Planner\logs\QUADROTOR\1\2019-06-06 16-40-08.log
Size (kb) 7875.1328125
No of lines 92307
Duration 0:05:47
Vehicletype ArduCopter
Firmware Version V3.6.9
Firmware Hash 632be63f
Hardware Type
Free Mem 0
Skipped Lines 0
Test: Autotune = UNKNOWN - No ATUN log data
Test: Brownout = GOOD -
Test: Compass = FAIL - Large change in mag_field (42.67%)
Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERR found: CRASH
Test: GPS = GOOD -
Test: IMU Mismatch = GOOD - (Mismatch: 0.21, WARN: 0.75, FAIL: 1.50)
Test: Motor Balance = WARN - Motor channel averages = [1493, 1473, 1521, 1570]
Average motor output = 1514
Difference between min and max motor averages = 97
Test: NaNs = FAIL - Found NaN in CTUN.DSAlt
Test: OpticalFlow = FAIL - FAIL: no optical flow data
Test: Parameters = FAIL - ‘THR_MIN’ not found
Test: PM = GOOD -
Test: Pitch/Roll = UNKNOWN - ‘BarAlt’
Test: Thrust = GOOD -
Test: VCC = UNKNOWN - No CURR log data

If you can share the log I can have a look. I have the same setup.

Thanks, but I discovered a flaw in one of my escs, it was the cause of the fall. But I’m not getting an efficient EKF calibration I did not have the problem in earlier versions of Mission Planner.