Noise in AirSim getMultirotorState() and IMU sensor

[AngelTang190]

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Is there noise in getMultirotorState() and IMU sensor readings for AirSim?

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If there is noise, how can I find it?

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I tried searching for settings and I found a setting called "NoiseSettings", but I am not sure how to get the noise for getMultirotorState() and IMU sensor reading.

Thank you!

[jonyMarino]

Hi, @AngelTang190! Thanks for your question. The NoiseSettings are for the camera. But I can see searching through the code that there is noise concept on different sensors:

AirSim/AirLib/include/sensors/distance/DistanceSimple.hpp

Lines 25 to 26 in f423d9f

	uncorrelated_noise_ = RandomGeneratorGausianR(0.0f, params_.unnorrelated_noise_sigma);
	//correlated_noise_.initialize(params_.correlated_noise_tau, params_.correlated_noise_sigma, 0.0f);

AirSim/AirLib/include/sensors/barometer/BarometerSimple.hpp

Lines 30 to 31 in f423d9f

	uncorrelated_noise_ = RandomGeneratorGausianR(0.0f, params_.unnorrelated_noise_sigma);
	//correlated_noise_.initialize(params_.correlated_noise_tau, params_.correlated_noise_sigma, 0.0f);

AirSim/AirLib/include/sensors/barometer/BarometerSimple.hpp

Lines 30 to 31 in f423d9f

	uncorrelated_noise_ = RandomGeneratorGausianR(0.0f, params_.unnorrelated_noise_sigma);
	//correlated_noise_.initialize(params_.correlated_noise_tau, params_.correlated_noise_sigma, 0.0f);

You can take a try to #2821 to be able to set the noise through the settings.

[jonyMarino]

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