There’s another possible scenario that might caused this. The drone was inside a ship, in a closed environment. When someone opens and closes an exit door, the air inside gets displaced and cause the barometric pressure to change momentarily. So, if someone went outside, and the door shuts (inwards), pressure inside would increase, and the drone thinks it was falling, and so rev’d the motors.
I don't think so. The primary IMU data for aircraft motion are the accelerometers, and those are not going to be affected by air pressure. They will certainly respond to vertical motion of the ship though.