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

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.  

2016-05-27%2015-58-51.tlog

BIN.rar

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.

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

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Has nobody encountered this serious problem?

I once posted a problem at discuss.ardupilot.org,but nobody reply//

You can look it here.

"http://discuss.ardupilot.org/t/altitude-fluctuating-about-10m-in-auto-mode/8775".

Have you ever try QuadPlan?

once posted a problem at discuss.ardupilot.org,but nobody reply//
You can look it here.
"http://discuss.ardupilot.org/t/altitude-fluctuating-about-10m-in-auto-mode/8775".
Have you ever try QuadPlan?

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