3 weeks ago I did some vibration tests with all the motors at half throttle and I realized I really need to properly isolate the IMU. I was getting +- 8G in all the axes most of the time. This was driving crazy my AHRS code so something had to be done.
It took one week of designing and printing a new case but I managed to incorporate some dampers.
First test showed a big improvement. Accelerometer vibration dropped to +-1G but now I get some low frequency oscillation in the gyro, probably due to the resonance frequencies of the dampers. I will try soon to put some ear plugs in the center of the rubber dampers to see what happens.