I agree with Astra, that the control system actually worked perfectly, to save the launch. One of the main engines failed, causing the rocket to tilt. It would have actually done a power flip, but the control system corrected for the failed engine and righted the rocket. It then proceeded to lift, but slowly because of the failed engine. It failed to reach a proper orbit as well.
Yeah, if you watch closely something broke off the rocket at Max Q and then they terminated the flight.
The guy that wrote the stability program earned his pay with that performance.
They were lucky that specific engine failed, it would have been different had the rocked drifted inland.