I noticed servo #2 went to full minimum value (and that servo is reversed), so it was trying to correct for it. But it was likely too far over already. The only way out in a dynamic rollover is to drop collective. Unfortunately, that’s not possible in Loiter because of the way the collective works - all you do is make a rate request to the autopilot with the collective - it is not full collective control.
You only have normal control response in Stabilize or Acro. Even a “GPS Glitch” (which is logged for any number of reasons for the GPS system) can cause a dynamic rollover like this one - I only recovered from it by switching to Acro right away and hunted around with the cyclic to find the attitude solution to get it back on the skids. Stabilize would’ve been a safer bet without having to hunt for the “ghost” but I didn’t have it set up for that at that time. So it ended up rocking back on the tail before I found it.
https://youtu.be/hf6XT_Ao_fY
Just be aware GPS is most inaccurate close to the ground and these things can and do happen because of it. Helicopters are different than multicopter because they don’t just stop running and give up when you land or are taking off. A larger helicopter can easily take off again in spooldown, or roll itself over. That never happens when the pilot is flying it manually.
In flight where the GPS has a clear view of the satellite constellation with less chance of picking up multi-pathed signals, and the autopilot does not have to deal with the unique properties of helicopters close to the ground, the autopilot is great. We see virtually no failures of the autopilot system in flight. It’s most always the air-to-ground, or ground-to-air, transitions where the accidents will happen using an autopilot.
Your servo horn failure would’ve been easily recoverable in a manual flight mode and I see you did drop the collective. But it didn’t respond to it in time.
The other reason I normally only use manual takeoffs and landings is because many places I fly from there is no room for error. Sometimes I can use a road. But more often than not all I have is a field drive that’s overgrown with 4 foot tall grass. The main rotor is 6 feet across, so I stomp out a 8 foot circle to take off from, then on takeoff have to fly between a couple fence posts, under powerlines or around a couple trees and get lined up on the first waypoint. Coming back in is the reverse of the takeoff and it has to be precise within a few inches The autopilot simply can’t do that. A human pilot can.
OTOH, the autopilot is often fine in the critical flight stages in a wide-open area where there is little chance of picking up reflected GPS signals. And there is some room for error if the GPS position is not quite accurate. But if there’s trees, powerlines, buildings or other obstructions around never trust the autopilot to fly it. I’ve had flights where I got caught in a storm before and rain and wind wrecked my stomped out helipad before it got back, and I’ve landed it on the tonneau cover on my pickup with the main rotor only inches from the back of the cab in 15-20kt wind. You just don’t let an autopilot do that.