Thanks for your patience.
I wanted to highlight first that Auto Mode isn’t the easiest one to perform with ArduPilot software. If you’ve only started working with a drone that you assembled yourself, it’s better to progress through the flight modes listed below:
I’d suggest checking out First Flight with Copter guide all the necessary information that helps to understand some tips on the configuration.
Regarding the failed flight in Auto Mode, the drone needs to have a good GPS signal to follow an automated mission. It looks like there were issues with the signal reception, and that’s why it leans on the side and doesn’t take off.
I see that Navio2’s GNSS antenna isn’t placed on a ground plane from the photo you shared. The ground plane reduces multipath and improves signal reception. You can use any piece of metal for this.
Also, looking at the video, you have launched the drone near the buildings. It might interrupt the GNSS signal as it’s hard to get through the obstacles. I’d suggest conducting the flights in an open area with no tall objects around.
It’s important to check the GPS signal related parameters and statuses to understand whether there is an issue. For example, checking if GPS’s HDOP value isn’t exceeding 2.0. For more details, please refer to this docs section.