Ekf3 warning on the way back from 9km away trip then lost control and crash on decending close to landing

Hello Everyone, Can I have some help here?

The plane warns ekf3 active sometimes and head to the wrong way after under RTL mode. I struggled for a while and lost control while I switch to FBWA. and crash even I switch to RTL again. can anyone take a look of the log and kml?

BIN file
first person view KML

This looks like the issue that is fixed by https://github.com/ArduPilot/ardupilot/pull/18008

Can you fly with LOG_DISARMED=1 and log _REPLAY=1 when you fly again and also test https://github.com/ArduPilot/ardupilot/pull/18008. That will help us a lot with EKF development. TXS.

Thank you for your answers. Does that mean if I flash with the latest version of the firmware the issue will be gone?

@priseborough My plane was crashed. I’m not confident to fly again. It was almost no control at all. Do you think that is OK for turning of ekf3? Please tell me if you find any problem in the log i posted.

The fix has now been merged into master and should be in plane 4.1 beta very soon.