What cause EKF failsafe?

@rafun wrote:

Ive build a costume drone for fishing (actually casting bait) - still in development made more than a few model - its 450mm weigh around 1.8 KG.
works pretty well - by in the last two models i had two crashes that the log indicates it's an EKF fail safe - the drone past the RTL point, keep on going and losing altitude until in crash (meanwhile the RC does not response)
Does anyone had the same problem? does anyone knows what causes this? any suggestions?
Log is attached.
Thanks a lot!

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