Gyro filter not working properly?


I am trying to diagnose/resolve vibration issues in my custom hexacopter build. The vibration I am seeing appears to be entirely propeller-based, though I am using balanced folding propellers from KDE, which should be quite good. However, I am still seeing vibration in the blade pass frequencies.

I would think that the IMU Gyro low pass filter would be filtering out these ~80 Hz frequencies given that my cutoff is 50 Hz, but I can still observe these 80Hz oscillations in both the actual Actuator Controls graph, as well as the Actuator Controls FFT.

Is the Gyro low pass filter not doing its job with regard to removing noise from the actuator controls, or do I have a misunderstanding of how the filter works?

Log here: