You’ve got you own thread going now so that’s a good start, we can keep adding to this.
I seriously suggest using the Methodical Configurator GUI and stepping through that in a detailed manner. It will guide you through checking and fixing some of the issues before they get a chance to cause another crash.
In the Autotune crash log, the logging all just stops mid-flight which means the flight controller completely lost power.
The yaw/drifting problem is because you have a serious motor mount or frame twist, making the CCW motors work hard to counteract the yaw bias caused by the CW motors.
