# IMU Noise Expectations

Source: https://forum.modalai.com/topic/2966/imu-noise-expectations
Category: Development Drones (https://forum.modalai.com/category/44/development-drones)
Tags: starling
Posted: 2023-12-18 17:01:44 UTC by awoods
Replies: 2 · Views: 592

## awoods · 2023-12-18 17:01:44 UTC

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:
![0ff9a14a-919e-43fb-b06f-49cd8685768c-image.png](https://forum.modalai.com/assets/uploads/files/1702918559295-0ff9a14a-919e-43fb-b06f-49cd8685768c-image.png) 

- Result of plotting `imu_apps` as well as `imu_px4`. Both have similar levels of noise.
![1e735b50-5299-4f21-95ec-0a338c0a8e26-image.png](https://forum.modalai.com/assets/uploads/files/1702918609279-1e735b50-5299-4f21-95ec-0a338c0a8e26-image.png)

## Reply by awoods · 2024-01-18 21:55:56 UTC

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

## Reply by Alex Kushleyev (ModalAI staff) · 2024-01-19 20:57:19 UTC (in reply to awoods)

@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.

![starling_imu_noise_sample.png](https://forum.modalai.com/assets/uploads/files/1705697622723-starling_imu_noise_sample.png)