@astro_phil with some further investigation over the weekend, i found a small fix in the px4 codebase that seems to reduce the velocity estimation error. I low pass filtered the delta time (dt) value that is used to integrate the linear acceleration to obtain the velocity estimate.
[image: 1746443064707-vibration_fix-resized.png]
Left is without the "fix" and right is with the "fix". Flying in position hold.
[image: 1746443272985-whatsapp-image-2025-05-03-at-15.50.57.jpeg]
I tried to induce more vibration on purpose to test the impact on position tracking.
Both flights shown in the plot where done with the system shown in the picture.
