GPS failure AMP 2.6

all calibrations were good.
i did some fly like AltHold and it flew good 
later i went do the mission and failure it

why my GPS failure,, when start the mission the quad took off well, but later did it something very strange and crashed it, so, why happened ???

in the picture show the AltHold because when i saw the quad lost the road i put the switch to AltHold but it was too late for the crash =( 3691182749?profile=original

has something to do the GPS HDOP value ?? whats  the correct value for good fly? 

this is the video


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