Quad falls out of sky on yaw

Hello everyone, working through an issue here and thought I’d reach out for some guidance.
My quad fell out of the sky yesterday, luckily only 2 m, when I tried to command a little more than usual yaw in PosHold mode. It started to turn fine, but at some point spiraled out of the air during the move. I think it has something to do with the minimum throttle but I’m not 100% sure. I think a quick fix would be to just limit the yaw rate.

S500 frame
2216, 880 KV motors
9450 DJI style props
Pixhawk 4
3.6 lbs with battery (battery is almost 2 lbs on it’s own)
I realize this is probably a bit heavy for the props, but it’s all I’ve got at the moment. Waiting on some 1045 props from BangGood.

I’ve attached the log and the drop occurs right at the end, the battery was ejected when it hit the ground. Wasn’t a very long flight. Thanks ahead of time for any guidance.
2020-04-18 19-50-20.bin (840 KB)