I’d recommend updating to AC 4.0.3
Not directly related to the crash, but your Vcc 5volts is very low, maybe see if you can get a better “power brick” or at least check all its connections are good. You need around 5.1v to 5.3v
Do the Compass/Motor calibration too, it’s not required but helps a lot with compasses.
The MOT_THST_HOVER value is very low so I’m going to assume you’ve got 12inch props with 3cell LiPo. I recommend changing these settings and doing Autotune again - first do some basic Stabilize and AltHold tests to make sure everything is work OK before Autotune.
You can copy/paste this straight into notepad and save as a .param file to load via MissionPlanner.
Some of your MOT_BAT and BAT_ values were close but not quite right.
Let us know your correct prop size, it might affect some of those values.