# Gyro filtering

**URL:** <https://discuss.px4.io/t/gyro-filtering/48976>\
**Category:** PX4 Autopilot\
**Created:** [May 18, 2026, 4:30am UTC](https://discuss.px4.io/t/gyro-filtering/48976 "2026-05-18T04:30:48Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Zzang](https://discuss.px4.io/letter_avatar_proxy/v4/letter/z/46a35a/32.png) [@Zzang](https://discuss.px4.io/u/Zzang)\
**Post date:** [May 18, 2026, 4:30am UTC](https://discuss.px4.io/t/gyro-filtering/48976/1 "2026-05-18T04:30:48Z")

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Hi guys,

I’m currently trying to filter out the gyro noise using 2 static notch filters and a low-pass filter. I’m not sure if the settings are appropriate, and also worried about the negative effect of mechanical vibration ( maybe other noise).

According to the **Angular Velocity Power Spectral Density** diagram shown below, I set the FRQ and BW of the notch filter for fundamental frequency as (76Hz, 20Hz) and (150Hz, 20Hz) for the 2nd. harmonic.

 ![屏幕截图 2026-05-18 121452](https://discuss.px4.io/uploads/default/original/3X/0/3/03c16dc31c25e49b7f85e8b11ced97c456682e65.png)

And based on the **Actuator Controls FFT** , I set the low-pass filter to 40Hz, 20 Hz for `IMU_Gyro_CUTOFF` and `IMU_DGYRO_CUTOFF`, respectively

 ![屏幕截图 2026-05-18 121723](https://discuss.px4.io/uploads/default/original/3X/4/1/4166695b4a06f28becc65c981cc42113ac5f099b.png)

The question is: **Raw Angular Speed (Gyroscope)** diagram seems very _excessively noisy_, as shown below. Do you think this may indicate potential mechanical vibrations (I also attached Vibration Metrics below for reference) or other kinds of noise? Or maybe it’s normal, I shouldn’t worry too much about this, and just step into rate pid tuning?

 ![屏幕截图 2026-05-18 120611](https://discuss.px4.io/uploads/default/original/3X/7/a/7a4e422f0e3d5bed7db5e9d51a9e310d654888e4.png)

 ![屏幕截图 2026-05-18 122350](https://discuss.px4.io/uploads/default/original/3X/b/b/bb7c46d09643d173d2c060be80d310956cfb7f65.png)

Any feedback is appreciated! Thanks in advance!

Best Regards,

Zzang

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**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\
**Post date:** [August 16, 2026, 4:31am UTC](https://discuss.px4.io/t/gyro-filtering/48976/2 "2026-08-16T04:31:19Z")

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