Hexacopter big problems Loiter mode

Hi everyone, after trying to fly in stablize mode and althold mode, i decided to try loiter mode, and the drone crashed… I will put log here, maybe somebody can tell me what is going on… i saw that loiter mode has seperate PIDs but i didnt tune them. Also in auto analysis i have problems with Large Compass Offset Params as shown below in the picture. Thanks!

Log Bin

You have another post open with the same topic and the same log.

Auto Analysis is not up to date and has little value.