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

enter image description here

enter image description here

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:

enter image description here

The covariance matrix is 0 for everything

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  • $\begingroup$ What drone do you have? $\endgroup$ – Ralff May 22 at 1:02
  • $\begingroup$ @Ralff I have an AR.Drone 2.0 from Parrot $\endgroup$ – Unnamed May 26 at 15:00

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