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

[iagupov]

Bug report

• AirSim Version/#commit: 1.8.1
• UE/Unity version: 4.27
• autopilot version: "N/A"
• OS Version: Ubuntu 20.04
• Python 3.8

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:

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

Also found an issue, but without any reply.

Thanks for providing any help