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