Interesting file.
Just before the mishap drone heading 122, drone heading correspond to all the yaw inputs.
But yaw hdg value suddenly indicating left movement to hdg 162, 124,65 etc. But Gimbal yaw value remains thes same. Normally gimbal yayw follows drone hdg.
With no RC input drone should hover but started to fly away. My guess because position error, thus counter steering correcting wich are not right direction cause hdg data is wrong.At more less same time NotEnoughPower and drop in voltage.
My 2 cents : IMU gets wrong data or calculates good data to wrong results. See also the GPS speed calculated differts from original speed data in txt file, this indicates some kind of IMU errors.
See my chart, YAW line is yellow where no yaw input is given (so horizontal yaw line is good)
