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microsoft / AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research
https://microsoft.github.io/AirSim/
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Why the 'kinematics_true' and 'kinematics_estimated' are exactly the same? #1074

Closed husha1993 closed 6 years ago

husha1993 commented 6 years ago

Hi,

I tried to set the drone in different position and orientation, and I found in all the cases the 'kinematics_true' and 'kinematics_estimated' are exactly the same which seems unreasonable.

According to my understanding to the paper, the kinematics_true is obtained from the physics engine and the kinematics_estimated is estimated from the flight_control, they should be different.

Domi47 commented 6 years ago

Hi, as it's said in https://github.com/Microsoft/AirSim/blob/master/docs/apis.md : "Please note that simple_slight currently doesn't support state estimator which means estimated and ground truth kinematics values would be same for simple_flight. Estimated kinematics are however available for PX4 except for angular acceleration."

husha1993 commented 6 years ago

I see, thanks!