Weird behavior with Three-axis Inertial Measurement Unit

Hello there,

A bit of context, the simulation is of a drone dropping for a while, and the the rotors are turned on at full blast, I am simply testing my simulink setup, it is not close to done, and the questions are about the IMU:

I get this really weird bahviour with my IMU sensor in simulink. For some reason it explodes in it's output-data, and I am not sure why. I have noticed changing both of the natural frequencies to 0 resolves this problem, which lead to my first questio:

What is a natural frequency of an IMU (Gyro and Aceleraometer)?

Error:An error occurred during simulation and the simulation was terminated

Caused by:

Derivative of state '6' in block 'low_fidelity_model/Gyro Scope and Accelometerar/Three-axis Inertial Measurement Unit/Three-axis Accelerometer/Dynamics/Second-order Dynamics/Integrator, Second-Order Limited' at time 15.733333333333333 is not finite. The simulation will be stopped. There may be a singularity in the solution. If not, try reducing the step size (either by reducing the fixed step size or by tightening the error tolerances)

The crash at that specific time is conistant.

What is weird about this, is if I take the same data that I feed the IMU, it is inharently stable, except I get some weird behaviour in X,Y forces as the ossilate (I currently have no controller implemented), thus leading to my second question.

Is the purpose of the IMU to simulate a real-life IMU, or something else?

Thanks for taking your time to read this.

[Paul]

Hi @Mats,

Please provide a link the specific IMU model that's being used. There are at least two of which I'm aware, though only one of those supports second order dynamics. But there may be others floating around and I don't want to guess.