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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IMU linear acceleration XY almost doesn't change compare to MultiRotorState linear acceleration XY #4997

Open iagupov opened 1 week ago

iagupov commented 1 week ago

Bug report

What's the issue you encountered?

IMU linear acceleration almost doesn't change compare to MultiRotorState linear acceleration for XY component.

How can the issue be reproduced?

One can just compare x and y values of client.getMultirotorState().kinematics_estimated.linear_acceleration.x_val and client.getImuData().linear_acceleration.x_val while drone is moving.

Include full error message in text form

Plot of linear acceleration taken from IMU sensor and from MultiRotorState: Image

at the time, it's not a case for angular velocity, for angular velocity IMU and MultiRotorState curves are almost the same (image below): Image

Also found an issue, but without any reply.

Thanks for providing any help