We have discussed this in today’s maintainers call, and few propositions were raised:
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Perhaps the IMU that isn’t vibration isolated (out of 3) was being used as primary IMU for EKF2. Could you all check on that?
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Without access to the two logs with exact same vehicle configuration, but different PX4 version (v1.12 and v1.13), it would be hard to conclude that it’s a software problem (vibration metric alone isn’t definite clue, we would need to analyze actual IMU data)
@sibujacob could we have access to the two logs from v1.12 and v1.13 you had above?
Separate from that, Cube orange plus target was not available for v1.12, so we were wondering how that target binary was built for the test!