[Log Analysis] Copter with GPS lock deviates from course and crashes


We had a crash today where the copter left the waypoint course and crashed into a tree despite having a good GPS lock on both GPSs:

The blue marker is where the drone should have headed, but instead it veered off-course and crashed at the red X.

The logs show no errors, and both GPSs seem to be reading fine for the whole flight, with HDOPs below 0.6.

I am currently suspecting that this was some sort of motor desync/failure, but I am not sure.

Any help would be appreciated.

Log: https://drive.google.com/file/d/1Rtw2nwo5--g8KO3aC3WT5UTfYY_inXXq/view?usp=sharing