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Initially I thought this was happening due to sensor noise. So I made it zero and it still made no difference.
I set imu0_remove_gravitational_acceleration to false and this made the problem go away. I don't understand why this should make a difference when I have set two_d_mode to true. The IMU is oriented such that when the robot is not moving the X & Y accelerations are zero and Z acceleration is 9.8 m/s^2. In 2D mode, it should ignore the Z acceleration and make no adjustments to the X & Y accelerations. However this does not seem to be the case.
This solves my problem, however I would like to understand the significance of imu0_remove_gravitational_acceleration in 2D mode.
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