S500 flipped during flight

Hi all, I have successfully flown my S500 drone with a Pixhawk 4 running PX4 1.10.1 for several days, and today I was performing a simple flight when my drone suddenly flipped on a side in mid air. At first it showed little wobbles to the right, but nothing I was worrying about… and then it happened… here is the log file, I looked at it for over an hour and couldn’t understand the error, can you help me? Thank you :slight_smile: