Noisy EKF IPD / Barometer

I'm troubleshooting some Altitude Hold Problems that are resulting in a about 5 feet of Altitude drop while transitioning from hover to directional flight.

My vibrations are acceptable but I've noticed a high variations in the barometer and IPD EKF values.

I've increased the EKF_ALT_NOISE to 3.75 and it has reduced a sudden 5ft drop to a slow descent of 5 feet over about 10 seconds.

I've attached the LOG. Any other parameters I can adjust to help improve AltHold performance?


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