Tuning INS_ACCEL_FILTER and INS_GYRO_FILTER

ArduPlane VTOL Plane
1

Hello,
I wanted to optimize the values of INS_ACCEL_FILTER and INS_GYRO_FILTER. Currently we are using the default values of 20Hz for both.
What would be the optimized values for both of these filters and how to determine those?
Some help would greatly be appreciated.

One of the logs to refer: - 2023-02-09 11-15-12.bin - Google Drive

Thanks

2

Hi,

These pages on wiki might help

Shows how to set up the tune parameters and notch filter to collect data

https://ardupilot.org/copter/docs/initial-tuning-flight.html

https://ardupilot.org/copter/docs/common-throttle-based-notch.html

This page shows how you can do a post-flight FFT analysis on the collected data to remove the noise from the gyro

https://ardupilot.org/copter/docs/common-imu-batchsampling.html#common-imu-batchsampling