{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/5304","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/5304/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/5304/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/5304/events","html_url":"https://github.com/betaflight/betaflight/issues/5304","id":299959963,"number":5304,"title":"Betaflight 3.3-RC2 Accelerometer drift slightly on OmnibusF4SD with MPU6000","user":{"login":"wuhao19920619","id":36795033,"avatar_url":"https://avatars3.githubusercontent.com/u/36795033?v=4","gravatar_id":"","url":"https://api.github.com/users/wuhao19920619","html_url":"https://github.com/wuhao19920619","followers_url":"https://api.github.com/users/wuhao19920619/followers","following_url":"https://api.github.com/users/wuhao19920619/following{/other_user}","gists_url":"https://api.github.com/users/wuhao19920619/gists{/gist_id}","starred_url":"https://api.github.com/users/wuhao19920619/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/wuhao19920619/subscriptions","organizations_url":"https://api.github.com/users/wuhao19920619/orgs","repos_url":"https://api.github.com/users/wuhao19920619/repos","events_url":"https://api.github.com/users/wuhao19920619/events{/privacy}","received_events_url":"https://api.github.com/users/wuhao19920619/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":2,"created_at":"2018-02-24T18:04:10Z","updated_at":"2018-03-04T13:53:24Z","closed_at":null,"author_association":"NONE","body":" It occurs every-time after I fly several seconds. The pitch angle drift +0.1 degree every 2 second and usually stop at about 4 degree. I guess it is not about the vibration because after flying for several seconds then I disarm and connect to configurator, but the drift still continue."},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/370230942","html_url":"https://github.com/betaflight/betaflight/issues/5304#issuecomment-370230942","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/5304","id":370230942,"user":{"login":"etracer65","id":17088539,"avatar_url":"https://avatars1.githubusercontent.com/u/17088539?v=4","gravatar_id":"","url":"https://api.github.com/users/etracer65","html_url":"https://github.com/etracer65","followers_url":"https://api.github.com/users/etracer65/followers","following_url":"https://api.github.com/users/etracer65/following{/other_user}","gists_url":"https://api.github.com/users/etracer65/gists{/gist_id}","starred_url":"https://api.github.com/users/etracer65/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/etracer65/subscriptions","organizations_url":"https://api.github.com/users/etracer65/orgs","repos_url":"https://api.github.com/users/etracer65/repos","events_url":"https://api.github.com/users/etracer65/events{/privacy}","received_events_url":"https://api.github.com/users/etracer65/received_events","type":"User","site_admin":false},"created_at":"2018-03-04T13:53:24Z","updated_at":"2018-03-04T13:53:24Z","author_association":"NONE","body":"If you're seeing +-1 on the gyro traces in the sensors tab when sitting completely still on the bench, then that's a lot of noise.  The gyro data is used as part of the attitude estimation so lots of noise will cause drift.\r\n\r\nWhen connected only via USB (no battery) do you see the same level of noise in the sensors tab?  I suspect not since you indicated that the drift was not a problem when bench testing.\r\n\r\nIf the noise increases when you connect a battery that indicates that you need more power supply filtering and adding a capacitor may help.  I could also just indicate that the on-board power supply is just not very good - particularly the 3v3 rails.\r\n\r\nIf the noise is the same between USB vs. battery power, then possibly you just need more gyro filtering configured to allow less noise to get into the PID controller and IMU calculations."}}
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