I noticed pretty bad performances in holding altitude on my hexacopter, and also problems when multirotor will not automatically turn off motors when landed. After analyzing my logs I noticed that IMU2 reports much higher values. Not only that values are higher, but looks like there is more noise.
Take a look at differences between IMU1, IMU2 and IMU3.
As you can see, IMU 1 and IMU3 look good. Values of X and Y are between -1 and 1 and Z axis is between -6 and -12. They are within acceptable limits
But for IMU2 I can measure that X and Y are between -4 and 4 and Z axis -1 and -37. This is really bad.
If we take a look on end of log, I had rough landing and IMU1 and IMU3 clearly show large increase in acceleration. That is how it should look like. But when you see accelerations on IMU2 there is so much noise that you cannot even notice that landing was rough. For me IMU2 looks defective.
What other members think about this? Should this cause problems with altitude hold on my hexacopter?
Is there possibility to turn off IMU2 and use IMU1 and IMU3 for calculations?
Tarot X6 frame,
T-Motor 18x6.1 carbon propellers
Xrotor xheli 40A
Should I set parameter EK2_IMU_MASK to 5 to turn on IMU1 and IMU3 and turn off IMU2 ?