# Measurements of IMU (accelerometer and gyroscope) are drifted or with too much error

I placed my drone on a table (i.e, at rest) and save (using a ROS topic) the IMU readings:

As you can see, there's a lot of drift or error. I would expect the $$x$$ and $$y$$ acceleration to be 0 (I know about the drift, but this is not something that keeps growing, it just has a bias) and $$z$$ 9.8. What could happen? Before I measure everything, I called the topic flattrim. And I would expect also a better performance for the gyroscope

What can I do to make if work better?

The funny thing is that the velocities (I suppose it integrates the accelerometer readings) are noisy, but their mean is approximately 0:

The covariance matrix is 0 for everything

• What drone do you have? May 22, 2020 at 1:02
• @Ralff I have an AR.Drone 2.0 from Parrot May 26, 2020 at 15:00