Need help with wierd Alt Hold / Baro issue

So i've been trying to build a quad for a friend of mine. 

I currently have a DJI 500 style quad, Sunnysky 2212 980kV, 10x4.5 props, APM 2.6. That's about it.

Anyway, flies great. I have a pair of graupner 9x5's i used and they were solid in stab mode.

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Pixhawk wierd glitch

I was flying today around my neighborhood. Around 6minutes 18 seconds into the flight, the pixhawk twitches hard and pitches up and to the right. I immediately started it back home and seemed to behave fine after that. Looking at the logs i don't see

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