"Nice to hear that you managed to increase accuracy. Even though quite complicated way :-)
Anyway I will try if Tarantula vibration causes same MPU-6050 noise . Tarantula does not have any kind of anti-vibration mounting. But maybe its body is not as…"
I have just started playing with MPU-6050. Once I have draft program ready that at least displays MPU values I will try to put it on my Tarantula X6 drone to see if result is same. Tarantula has similar brushed motors as you drone has.