Vtol crash due to yaw error

At start of transition vehicle starts yawing right. Aborted the transition but the vehicle couldn’t stabilize itself because of big yaw error. Had a hard landing. max yaw rate is 20, max roll and pitch rates are 120. Couldn’t figure out why the vehicle couldn’t stabilize itself.

log link: https://review.px4.io/plot_app?log=67a73f20-7f04-41c1-a0a0-984f484b89e1

video link : https://youtu.be/EapXvsl9Omk

So, I don’t get any response from anyone in this forum. So having hard times fixing my problems with the PX4 firmware. I guess that is it. I will try ardupilot.