This link is related to a crash and log analysis that may look like to yours.
Your log shows that Rcout C3 and RCin C3 match closely up to the crash so this is not a RC issue.
Att Yaw and AHR2 yaw does not mach closely (they do match in the good log) that may indicate an attitude estimation problem. From the above link :You have the compass disabled (with COMPASS_USE=0) and are not being careful to only carry the aircraft nose forward when moving on the ground.