I need help trying to figure out why my hexacopter running APM copter (version 3.2, I think, but I'm not sure how to check) suddenly had a mind of its own. Here's what happened - you can see it all in the logs I've attached: I took the drone off in stabilize mode and flew it maybe ten feet away from the starting point. I then put it into return-to-land (RTL) mode for just a second, then switched back into stabilize. I flew it around in just a few feet radius for a little bit.
Then I put the APM back into RTL mode. The drone immediately went into a full tilt and starting accelerating and top speed, even though it was just a few feet from where I armed and took off. After realizing that the RTL mode clearly wasn't working right, I went back into stabilize mode, but the drone didn't respond at all. It continued going full speed ahead, then banking right before crashing into a tree.
I can't, for the life of me figure out what happened. I'm very amateur at reading logs, but I did spot check several GPS coordinates on a map and it had the location spot on. It also doesn't explain why, after switching back into stabilize, it wouldn't listen to the transmitter.
A few things I should note:
(1) I had an episode like this where I lost control before and crashed. I suspected it was interference, so I upgraded to an FrSky transmitter/receiver pair but that clearly didn't fix it. This time it also happened just after switching into RTL, so I think it has to do with the mode switch, not interference.
(2) After the first crash mentioned above, I decided to put on a geofence with a radius of only 20 meters and max altitude of 10 meters, so in case it went crazy, I figured it would keep itself nearby. I think the reason the logs say it went into RTL at the end is because it left the geofence this time, but I don't really know. I also don't think the geofence is the cause of this issue because this loss of control happened the first time when there was no geofence. I also GPS glitch detection enabled with the default settings.
I would really appreciate if someone could help me diagnose this. I'm completely lost on this and I am really scared to fly again until someone can help me pin this down. Thanks in advance.