Hexacopter did not respond correctly to Land command with 3.4RC1

[rrr6399]

This is the second time the copter did not respond correctly to the Land command. This time, the copter just continued to hover when Land was initiated via a Battery FS and explicitly. It appears from the log, that every time we took off the error between the barometric altitude and the IMU corrected altitude became greater. The vibrations are very good on this platform (VIBEZ about 10). Here is the altitude history:

Anybody else have similar issues with the land command or seen divergence in barometric and IMU corrected altitude?

Here is the other report I made:

Copter climbed when Land command issued for 3.4RC1

We had an odd incident happen recently where the copter decided to climb rather than descend when the LAND command was issued while in AUTO. It looks like the IMU corrected altitude was decreasing, but the baro altitude was increasing. I noticed the vibrations were a little high. This was in heavy wind as well. Has anybody else seen this behavior? Was it fixed in more recent versions of 3.4? Here are some relevant plots: [image] [image] [image]

[rrr6399]

My LAND_SPEED is also 50 cm/s. I wonder if that’s too slow given the errors in the predicted state?