Issue during autonomous mission

My quad suffered a huge crash while performing one of the autonomous mission. I checked the quad for any hardware damage but found none.
Just for being on the safer side, I reflashed Pixhawk (2.4.8) with latest firmware (i.e. v3.6.6) and also recalibrated every component of the quad.
But now I am having issues during autonomous flight such as:

  1. Quad drags itself to one side during takeoff and spins about vertical axis
  2. Fails to maintain a constant height
  3. EKF and Bad AHRS errors
  4. GPS glitch

If anyone could help me out here, I would really appreciate it.

Post a link to a flight log.

2019-02-13 20-28-28.bin (378.2 KB)
2019-02-13 20-20-13.bin (234.0 KB)
2019-02-14 12-46-55.bin (700.8 KB)
2019-02-14 12-33-10.bin (558.9 KB)
2019-02-14 11-57-54.bin (297.1 KB)
2019-02-14 11-33-30.bin (237.3 KB)
2019-02-13 20-24-31.bin (497.3 KB)