Crash in mission qube orange

Hey all!
I had a troublesome crash a while ago. One of the biggest problems is that I can not find why. It flew nicely in althold and loiter but when I did a mission it crashed. I put the log files below.

55 2021-09-10 12-54-04.bin (2.7 MB)

There was a voltage drop and high current consumption during the crash

The motors seems abnormal right before it lost attitude control. But the motors are still working.

Maybe the vehicle tripped something?

It was a calm day no strong winds no obstacles at 120m I have not found any explanation in the logs.

There is a sudden mode change before and during the falling:

If this mode change was not commanded, it could be the cause of the crash.