Update to AC 4.0.3, it’s stable, your existing parameters will convert nicely and there’s some important fixes.
I’d say probably get up a little higher away from prop wash and ground effects. The whole time you’re flying the Baro thinks you are at a lower altitude than when you took off. GPS is not providing a good Alt reading either, again more altitude will help with that, away from clutter and multipathing.
You can see your emergency stop switch was repeatedly activated, might want to check if your switch is working correctly.
Set these to improve stability and try again at about 3 meters altitude
and probably ATC_INPUT_TC to 0.2 for a softer RC feel.
Also you could try these, some of yours were close already:
Once you fly again, post a new log file for us to check.