Keeps climbing inexplicably（ArduCopter-4.0.3）

ArduCopter Copter 4.0
1

Copter took off in the POSHOLD mode. I see the log records XKF3.IPD abnormal, but I don’t know what caused it.Please help analyze the reasons.Thanks!
Log Link:

2

Update to ArduCopter 4.0.7 ASAP. It fixes many bugs including a climb bug (might be related).

3

Thanks! I will check the code modification record first

4

I tried to use Copter-4.0.7 and encountered the same problem in the test. The altitude of the copter is abnormal, but there is no noise when checking the barometer and gps altitude.