I’m not so sure, but I have come across a similar report recently: Sudden Motor Stop Mid-Air [Autopilot disengaged, switching to terminate]
For some reason it could no longer go into Stabilized mode.
It basically had no longer an attitude estimate:
Not sure why that would happen though.
What I can see is that you have both high accelerometer bias warnings and at the same time mag warnings. The mag warnings are due to the fact that the compass is measuring a lot of interference from your motor/ESC wiring, as you can see given the correlation here:
