difference between getImuData().linear_acceleration and getMultiritorState().kinematics_estimated.linear_acceleration

[iagupov]

Question

What's your question?

Could anyone please explain the difference between linear acceleration in the case when we get it from the method getImuData() and when we get it from getMultiritorState().kinematics_estimated? When runnning a simulation, not only the sign if different, but also the value itself. For example for a direct flight the linear acceleration could be -3 and 2 for these methods at the same time moment.

Include context on what you are trying to achieve

I'm trying to run RL with AirSim and it's not clear which one to use for observations.

Context details

Ubuntu 20.04, AirSim 1.8.1, python 3.8, Unreal 4.24

Include details of what you already did to find answers

I checked the official documentation and questions on git that already exist, but unfortinately there is no any info.