Today, we completed building a cage from PVC pipes for the drone to protect it from crashes. We calibrated with the cage and tried to fly in the stabilize mode. The drone crashes before flying in less than 20 seconds. I have added the link to the video and the logs. We want some professional help to figure out the crash. It bumped the ground before it went flying. The bump might have caused some oscillation. Other than that we are unsure what changes to make.
https://drive.google.com/file/d/1wjWAI4ii_bqtqzhPf52d3doPxMy76UpO/view?usp=share_link
https://drive.google.com/file/d/1O39sb3J-rN5rZVhW8Jq50rlP6RkA6dME/view?usp=share_link