drift with rpi camera v2 and mpu9250 on jetson nano about open_vins

[goldbattle]

Wow, those IMU noises are far to big and hits that your IMU driver isn't correct. What are you using for that?

Looking at the kalibr timing it seems your IMU has bad timestamps, which would also affect your IMU noise values.

It looks like Kalibr didn't even solve correctly, so I would start by investigating your IMU and getting a good kalibr calibration first.

[omeredemen]

Wow, those IMU noises are far to big and hits that your IMU driver isn't correct. What are you using for that?

I am using a drive that i wrote and it just reads register via I2C protocol and publish with ROS2

well I couldnt manage to fix timestamp issue. i was trying to fix with software but i got the result i sent. so now i just read the register and publish with ros in my driver.

here is my another calibration reports (driver just read imu)
rpi-mpu-report-cam.pdf
rpi-mpu-report-imucam.pdf

still has noises and bad timestamp and i dont know how to solve the issue. should i change my imu or driver?

[omeredemen]

Looking at the kalibr timing it seems your IMU has bad timestamps, which would also affect your IMU noise values.

I tried to reduce my imu noises with getting avarege of 500hz data and publish them as 100hz and fix bad timestamp with software (but still couldnt get a straight line)

It looks like Kalibr didn't even solve correctly, so I would start by investigating your IMU and getting a good kalibr calibration first.

I didnt understand this part How should i investigate my IMU?