I have issue with my copter, lose motors in 5 minutes

ArduCopter Copter 4.3
1

https://drive.google.com/file/d/1IajRMSkQKXIm9SMFgnMv_TCNh4rzodKB/view?usp=drivesdk

This it’s the log

2

They are all tlogs - do you have a .bin log?
And just the one where this problem occurred.

3

My guess is PMW output oscillations cause thermal runaway (aka smoke) on the ESCs.

Tune the notch filter and the PIDs properly to avoid it.