I need help! My quadrocopter jumps on 20 meters. I configured HOVER! I do not know the solution

ArduCopter Copter 3.4
1

I’m at a dead end! My quadrocopter jumping up 20 meters if I change Stabilized mode -> AltHold, Stabilized -> Loiter. It occurs 2-3 times. Each time the jump height is less. Then quadrocopter flying normally. However, when the fully autonomous mission no problems.
I need help!!!
MOT_HOVER_LEARN 0
MOT_THST_HOVER 0,22

1.BIN (1.8 MB)

4.BIN (2.6 MB)

LOG
https://cloud.mail.ru/public/KSef/LDw8dofEH

2

Set MOT_HOVER_LEARN to 2 (learn and save) and hover for a few minutes to reset and save it.

3

How could I be so inattentive?
This discussion of the problem:
http://discuss.ardupilot.org/t/surge-in-altitude-upon-1st-entering-althold-or-poshold/14200

CAUSE BUZZER!!!
I disabled the buzzer, and stopped jumping

buzzer.jpg1600×394 76.1 KB

DSC09437.JPG3841×2217 2.03 MB