Drone went out of control

ArduCopter
1

The aircraft suddenly went out of control while flying in Loiter mode.
I switched to stabilizer mode and stopped the motor. Attach the log.
What is the cause?

2

These are a concern

23:32:51 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
23:32:51 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
23:32:55 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
23:33:15 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
23:33:15 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
23:33:15 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
23:33:17 16 0 EKF CHECK: EKF CHECK VARIANCE CLEARED
23:33:17 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
23:33:24 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
23:34:45 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
23:34:46 11 2 GPS: GPS GLITCH
23:34:46 29 1 : OCCURED OR FAILED TO INITILIASE
23:34:46 16 2 EKF CHECK: EKF CHECK BAD VARIANCE
23:34:46 17 1 EKFINAV FAILSAFE: OCCURED OR FAILED TO INITILIASE
23:34:47 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
23:34:47 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
23:34:48 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
23:34:54 17 0 EKFINAV FAILSAFE: ERROR RESOLVED/CLEARED
23:35:05 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
23:35:05 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
23:35:05 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
23:35:06 24 0 EKF PRIMARY: ERROR RESOLVED/CLEARED
23:35:06 24 1 EKF PRIMARY: OCCURED OR FAILED TO INITILIASE
23:35:09 29 0 : ERROR RESOLVED/CLEARED
23:35:12 2 2 RADIO: RADIO LATE FRAME
23:35:12 5 1 RADIO FAILSAFE: OCCURED OR FAILED TO INITILIASE
23:34:54 PreArm: Gyros not healthy
23:34:54 PreArm: Compasses inconsistent

Also it seems you had some kind of motor issue

image
image1784×463 103 KB

motor 4 went High and 3 went low

3

what is the reason?
Is the battery involved?
By the way, 3 cell 2200MAH was used.

4

Any conclusion here?