IMU Noise Expectations

[awoods]

Hi there, I'm curious about what sort of noise we should expect on the IMUs on the Starling?

Here is the sort of noise I am seeing on my platform:

• Result of voxl-inspect-vibration imu_apps during a flight:
  

• Result of plotting imu_apps as well as imu_px4. Both have similar levels of noise.
  

[awoods]

@Moderator - any guidance here? Wondering if my unit is perhaps defective.

[Alex Kushleyev]

@awoods ,

Here is a sample log from one of our recent tests using a Starling platform.

You can review the PX4 log here : https://review.px4.io/plot_app?log=3a4c53fd-db88-4d54-8f2e-5f22e159bfc6

The accelerometer noise looks comparable to yours, perhaps a bit less. The main thing is that motor outputs are pretty clean, very minor oscillations. You can collect a similar log and compare using px4 flight review. Also look at gyro noise which more directly affects motor commands.