Is the IMU Linear acceleration too low?

[LopezBejarAlvaro]

Bug report

• AirSim Version: 1.8.0 Linux (also tried on 1.8.1 Linux and 1.7.0 Linux)
• UE/Unity version: 4.0
• autopilot version: Not being used
• OS Version: Ubuntu 18.04.6 LTS + ROS melodic

What's the issue you encountered?

During the simulation of a Drone with Airsim + ROS wrapper, the IMU linear acceleration on X and Y seems to be too low, mainly noise. It is not higher of 0.2 m/s² when moving around, which is too low compared with real life data.

It has been tested on different environments, getting always similar results. I attach one example on Blocks, plotted in ROS with rqt_plot, while it is moving. On blue can be seen the normal value while standing (noise) and on red is the acceleration detected (around 0.2 m/s²) while moving.

Settings

I upload the settings.json file as .txt, so it can be loaded.
settings.txt

How can the issue be reproduced?

1. ./Blocks.sh
2. roslaunch airsim_node airsim_node_salli.launch (attached as .txt, just a modification of airsim_node.launch to our solution) airsim_node_salli.launch.txt

Include full error message in text form

No error received, this values are how it works normally?

What's better than filing an issue? Filing a pull request :).