I had a hard landing with my large y-6 setup due to a baro hgt timeout that caused the baro to continually reset causing the drone to lower in altitude while maintaining forward flight. At the beginning of the flight there are also a few imu lost errors. The vibrations, although high, are in normal range for my setup. Any suggestions or tips on this would be great. Others (1, 2) have had this issue as well and it seems to be a hardware issue. Should I buy a new cube orange? Should I add another GPS unit?
Please see the link for the flight log.