Crash in quadcopter X configuration

Hello Team,

Encountering crash in quadcopter,
Used Firmware version: 4.3.1

Before to the crash flight, we had multiple flights for small duration in Alt hold mode for Tuning PID of the quadcopter, After that we had a flight in loiter mode and we had a crash,

In loiter mode, Quadcopter is not responding to the Joystic Pitch Input, it is coming continuously pitch Back and Stuck to the wall.

Please help me to find out the reason for this crash.
Please find the BIN file.


Not sure why it’s not responding to pitch input but what Flight Controller and firmware is this?