Switching to loiter causes the baro to drop 10 meters

ArduCopter Traditional Helicopter
1

I am using a Logo 690sx in traditional helicopter and had tested and flown in stabilize, loiter, and auto in the past without issues. Yesterday I flew it and when I switched to loiter the helicopter went to full pitch climb. After taking the blades off and running some tests, it seems that whenever I swtich to loiter, the altitude reads -10 meters and slowly comes back up causing the EKF to go crazy.

I do not know what has changed or why switching to loiter causes the baro to go crazy.

Any ideas?

Here’s the Tlog

2

I am fairly confident it’s a vibration issue. Just checked them and they seem very high.

5

Was this on 3.3 or 3.4?

The log is a TLOG which I typically don’t bother looking at, need the flash log.

6

This was with 3.3.3, 3.4 is not available through mission planner as far as I can tell.

Here’s the dataflash log…