Copter. Missing the sharpness of the image.

[Fedya]

The sharpness is gone. The copter started to shake.
Дрон. Пропала резкость изображения. Камеру начало трясти. Неуправляемый полёт коптера.

 

[4wd]

Perhaps a bird hit you, or someone shot at it?
The wobbly flying and vibration suggests some serious fault or damage.
If GPS is lost it can't RTH because it won't know where it is - but if you have control you should be able to fly home manually.