Hello. I ask the community for help in finding the cause of the crash of the drone.
Ardupilot v3.5.4 - exactly 3.5.4.
This was the second flight that day. The flight was carried out in automatic mode.
The first flight was made at a height of 3.5 meters. The UAV uses lidar.
Then the altitude was changed to 2.5 and the mission was left the same.
Using the resource https://plot.ardupilot.org I recreated the flight.
If you choose the parameter Trajectory Source = GPS, then the flight looks exactly as it was. I attach an entry https://youtu.be/PAij8C0vMaU
If you select the parameter Trajectory Source = POS, then the flight does not correspond to reality, it is very interesting why, his entry looks like this https://youtu.be/N_pAdvuMS1Y