QuadPlane decrease the throttle in Qloiter mode and crash(3.5.3)

@farstein wrote:

Hello,guys, hoping your help.
Not everytime,but frequently after the QuadPlane fly to a certain level(always some meters) in Qloiter mode, ardupilot will slowly decrease the output of RC5/6/7/8,and so plane fall on floor.

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Cutdown throttle.jpg722x449 127 KB

2016-05-27 15-58-51.tlog (288.2 KB)
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And actually I only fly to 5 meters.But the log show I fly to 18m, that's strange. When i feel ardupilot cutdown my thottle,I change to QHover mode, and plane start to fall. So it shouldn't fly to 18m.

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ALT.jpg1280x363 112 KB

So i think is there any problem about my baro,I check EKF IPD,as below

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IPD.jpg1328x338 91.8 KB

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