Logs review help

ArduCopter Copter 4.0
1

Hi.i wanna ask,what can causes this during flight?
https://drive.google.com/file/d/1ivLep5ltUN4glsGsrNPvCRpPZrrzF2sk/view?usp=drivesdk
https://drive.google.com/file/d/1j0FK5c8E2zV6T7XoKqWROjbhubCdYsFR/view?usp=drivesdk