Good day all

I was hoping that someone could assist with a root cause analysis of a crash i had recently. It was while the quadcopter was in RTL almost back at its launch point it suddenly started spinning and losing altitude rapidly before it hit the ground. Just before it happened it sounded like one of the props hit an obstruction of sorts but it was right in front of me and there were no obstructions.

The copter was flying well otherwise but looking at the logs i suspect it was perhaps a hardware failure, or a prop broke in mid flight and i was hoping someone could help to provide some insight.

Below you see where Pitch IN an Pitch start deviating was when it started spinning and thereafter it started to fall. I see angle boost picks up markedly after that but i expect that is just a result of the controller trying to correct the instability?

I have not been able to fly again as yet but i armed and spun up the motors after the crash (without the props) and all seems well. I also cycled through the remote and moved the quad around and by the pitch of the motors it seems like everything is working fine. I have attached the logs etc below and i would appreciate it if anyone can take a look. The most likely cause in my opinion is that a prop broke off in mid flight and caused the crash (one prop was broken but i don't know if it happened when it hit the ground or before) but i would like to rule out a software problem.

Thanks!

2013-06-07 17-12 10.log

2013-06-07 17-12 11.kmz

2013-06-07 17-12 10.log.gpx