@Sasha-Bagan , actually the noise not too bad, on average under 2m/s/s which is 0.2G, which is considered low.
Are you able to create a video of QVIO overlay which can be viewed through voxl-portal? As well as post a px4 log. It is better not to fly in VIO control mode until this is resolved (fly in manual thrust/roll/pitch/yaw mode and collect the log + video).