I’m looking at it: It appears that takeoff happens around 425 sec, and flew to 45m altitude, achieving that around 439 sec. At that point, the pilot changed the mode to STABILIZE (for 2.6 sec) and then to RTL. I think it was in RTL when it crashed.
A suspicious thing I see is that from 335 sec to 425 sec, which is before takeoff, the roll from ATT.Roll is going crazy… reporting values as much as 20 deg! The pitch is bad too, errors as high as 15 deg. What was happening on the ground?
Assuming nothing particularly unusual was actually happening, I’d suggest this might be the source of your problems… a plane that’s sitting still and thinking it’s rocking-and-rolling plus-or-minus 10[deg] is a bad plane to fly.
@Chad_Frazer What do you think? Does this sound reasonable?
Did anyone else take a look?