Cube Orange / RFD900x Copter Crash

I was flying today and everything was going great all the sudden my quad switches from loiter to stabalize and hurdles towards the ground.

Log download:

Welcome back
I assume this is where you are talking about this bit

Channel 5 is causing the mode changes, as commanded by the looks of it.
Throttle is almost always at minimum or very low, so it looks like it did what it was told.

There’s literally hundreds of these messages

1st - voltage and current monitoring are not working properly, so it’s impossible to tell if that’s causing an issue.
2nd - you need to set the initial parameters by pressing Alt A in mission planner, while connected of course.
3rd - Set these:
BRD_BOOT_DELAY,5000 (for reliable CAN GPS connection)

4th I suggest going back to the start and do the all calibrations over again. Pay close attention to the RC calibration and check that mode and throttle channels are doing exactly what you need. I stick with just Stabilise, AltHold and Loiter.
Do the compass cal while outside with a good GPS 3D fix.

Harmonic Notch Filter would be nice after all that, then an Autotune. Yell out if you need help.

Let us know if you need any help with the RFD setup.

EDIT: since we mostly use multirotors, on our radios we spring centered throttle and PILOT_THR_BHV,7 then you dont have that unexpected “drop like a stone” effect in Stabilise.

I meant to say both your compasses are somewhat affected by throttle (motor current draw) so after you get the voltage and current monitoring working (and all the other stuff sorted) you would benefit from the Compass/Motor calibration