Unfortunately the screenshot doesn't show us voltage levels, but it does, as you say show you back at 87%.
But it also shows that at the time of the screenshot you were slowly descending and not moving very fast, so whatever sag had potentially caused the low voltage error had passed, and the battery had bounced back up to nominal levels. That's why we need the actual logs to see what that was doing at the time of the error message, and just before it.
I do notice you were in Sport Mode, which would have put the most demand on the packs when you did sharp ascends and / or fast forward movement, or if the craft has to fight a lot of turbulent wind...