Pixhawk descends without warning/no control

Hi,

Today I experienced a strange problem with my pixhawk. While I was flying, I noticed my multicopter was descending slowly, almost like it is autolanding. I was able to switch modes but to no avail. Eventually it landed awkwardly. 

I do bring out my multicopter for a spin at sea sometimes. So I wouldn't want this to happen again.

So my question is, what are the conditions that it will act in such a way?

Thanks. 

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