Hello,
I need some insight into the logs. I dont understand what is causing this vibration on the second imu, where the first is within normal range.
WeTransfer - Send Large Files & Share Photos Online - Up to 2GB Free - log is here
Those are low vibrations, quite acceptable. There is no great difference between IMU0 and IMU1.
Attitude control looks good.
If you are trying to set up the harmonic notch filter, you’ve done a good job so far. The values you’ve used look to be working well. A longer flight might give some more useful data to make slight refinements if necessary.
There is another harmonic generating some noise that seems to get though the filter, up around 260Hz, you could try with this:
INS_HNTCH_HMNCS,11