The Google dirve link includes log, crashdump and elf for decoding. I use Copter-4.6.2 compiled by myself. I’m not sure if the hardfault “unpredictable branch in IT block” at 0x2400208a is the main cause.
There are some info for debug:
Board MCU: STM32H753
Version: ArduCopter V4.6.2 (1ebd4d99)
crashdump “bt” in gdb:
#0 0x00000000 in ?? ()
1 0x0805150c in AP_GPS_GSOF::pack_state_data() ()
#2 0x01010a06 in ?? ()
Backtrace stopped: previous frame identical to this frame (corrupt stack?)
If you have any advices or ideas, please let me know. Thanks!