Drone switched from auto to stabalize mid route

ArduCopter Copter 4.0
1

I had an interesting flight, where slightly after 3 of my waypoints, the drone switched from auto mode into stabilize, and then back into auto.

Scarily, the stabilize behavior, was to send the drone shooting up from ~20 meters to ~40 meters. When the drone switched back to auto, it quickly descended to a normal altitude and continued on its way, until landing where it fell out of auto one last time.

Does anyone have any thoughts as to what might have happened?

pixhawk 2.4.8
arducopter 4.0.3
log file
https://drive.google.com/file/d/11xci45W868s1867tDqWB-Qw0TMpi9Wuh/view?usp=sharing

bin file
https://drive.google.com/file/d/1-xx2QYExKQ599uM9GE52D5aQpG0MkhNS/view?usp=sharing

2

Can you post the .bin file? The Log file is not very useful

3

added to original post

4

Something wrong in your RC transmitter or receiver. Reason of switching is noise in flight mode channel RCIN.C5 (and in every RC channel to). Power issue?

5

Indeed, what a mess.

Mode
Mode3308×997 205 KB

6

Ahh interesting, though not surprising now that you mention it. I will test this further.

Thanks for the input.