Drone is misbehaving

Can anyone review my log file and tell me whats wrong with my drone…


Your log looks OK.
You had some radio dropouts at the start and hit a battery FS at the end but it looks OK.

The radio was connected to it all the time. I dont see why the radio fail safe got enabled. The battery fail safe at the end is OK because I intended to drench the battery completely. In mid air there was a sudden yaw to the left which was not commanded. Also check the RCin VS RCout graph. There is a huge variation. And when I change the mode from AltHold to Loiter, there is an unwanted pitch. Also there was some vibration I guess which I am not sure of.