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Any time you need to take over you can switch the flight mode using the switch on the remote.
It sounds like you might have a problem with the obstacle avoidance system. Try launching in a more open area or turn that off in the DJI app. Looking at your log files this seems to be the issue.
You should have seen the Aircraft Errors icon flashing orange while this was occurring which should have provided some hint as to what was going on.
