I really hope not only me asking myself the question that how (quantitative and qualitative) air frame structure affects the attitude controller of Arducopter. These factors: rigidity, stiffness, flexibility, natural frequency will cause motor displacement, vibration and noise inducing to IMU. The Ardupilot has a very good mechanism to eliminate the “noise” by LPF and/or Harmonic Notch filter. However, if a (professional) user starts from beginning and he is capable of building a frame himself, what consideration he should have to make sure that the frame/chassis/body is good enough to go on before adding power and other electrical components?
There are some studies out there like these I have read, I still can’t find the general answer.
I will give a big thank to whom who can guide or showing me a direction to research based on scientific methods: theorical and experimental. Can we take advance of the Ardupilot ecosystem to have some experimental analysis (such as vibe, FFT…)?