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The problems you are describing can be an earthing fault, but it's more likely that it is just a bad audio codec or some other problem. By connecting your audio jack to another device, you are effectively grounding the signal path between the two. Also, if you really think it is a grounding problem, the audio defects should not occur when using headphones.
A common cause of crackling noises is interference from the CPU VRM, especially when the CPU is near-idle and switching in and out of low-power C-states. This can be verified by disabling C1E mode in the BIOS.
The tab on the picoPSU jack is not a grounding wire. Most power adapters have two-prong (8-shape) or otherwise ungrounded connections, so grounding is essentially impossible there. If you happen to have a power adapter with a grounded (three-prong, mickey mouse) connection, you can ground your chassis by connecting it to the negative supply terminal from the picoPSU. However, before you do this make sure you double-check that the ground connection is indeed connected to mains earth, and double check afterwards that you have done it correctly.
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