I am testing pitch orientation correction of Quadcopter and ended up in a issue.
I have a test setup with one degree of freedom to test orientation correction. I have fixed the drone to the setup and basically trying to test pitch correction by feeding a desired pitch angle and current pitch angle from IMU. The AHRS code uses Mahony filter to fuse the sensor data from Accelerometer, Gyroscope and Magnetometer. When I start my testing and spin the motors, can see the current pitch angle varying (or Oscillating). When I test without spinning the motors, the pitch angle is much precise. I observed that when the motors spin, a lot of vibration is generated and i doubt this is affecting the sensor to result in inaccurate output.
My question is
- How can the vibration effect be nullified on the IMU sensor? By using some hardware component?
- If it can be handled using Software, please let me know.