Sensors in Cosys-AirSim
Cosys-AirSim currently supports the following sensors.
Each sensor is associated with a integer enum specifying its sensor type.
- Camera
- Barometer = 1
- Imu = 2
- Gps = 3
- Magnetometer = 4
- Distance Sensor = 5
- Lidar = 6
- Echo = 7
- GPULidar = 8
- Uwb = 10
- Wi-Fi = 11
Note : Cameras are configured differently than the other sensors and do not have an enum associated with them. Look at general settings and image API for camera config and API.
Default sensors
If no sensors are specified in the settings.json, then the following sensors are enabled by default based on the sim mode.
Multirotor
- Imu
- Magnetometer
- Gps
- Barometer
Car
- Gps
ComputerVision
- None
Behind the scenes, 'createDefaultSensorSettings' method in AirSimSettings.hpp which sets up the above sensors with their default parameters, depending on the sim mode specified in the settings.json file.
Configuring the default sensor list
The default sensor list can be configured in settings json:
"DefaultSensors": {
"Barometer": {
"SensorType": 1,
"Enabled" : true,
"PressureFactorSigma": 0.001825,
"PressureFactorTau": 3600,
"UncorrelatedNoiseSigma": 2.7,
"UpdateLatency": 0,
"UpdateFrequency": 50,
"StartupDelay": 0
},
"Imu": {
"SensorType": 2,
"Enabled" : true,
"GenerateNoise": false,
"AngularRandomWalk": 0.3,
"GyroBiasStabilityTau": 500,
"GyroBiasStability": 4.6,
"VelocityRandomWalk": 0.24,
"AccelBiasStabilityTau": 800,
"AccelBiasStability": 36
},
"Gps": {
"SensorType": 3,
"Enabled" : true,
"EphTimeConstant": 0.9,
"EpvTimeConstant": 0.9,
"EphInitial": 25,
"EpvInitial": 25,
"EphFinal": 0.1,
"EpvFinal": 0.1,
"EphMin3d": 3,
"EphMin2d": 4,
"UpdateLatency": 0.2,
"UpdateFrequency": 50,
"StartupDelay": 1
},
"Magnetometer": {
"SensorType": 4,
"Enabled" : true,
"NoiseSigma": 0.005,
"ScaleFactor": 1,
"NoiseBias": 0,
"UpdateLatency": 0,
"UpdateFrequency": 50,
"StartupDelay": 0
},
"Distance": {
"SensorType": 5,
"Enabled" : true,
"MinDistance": 0.2,
"MaxDistance": 40,
"X": 0, "Y": 0, "Z": -1,
"Yaw": 0, "Pitch": 0, "Roll": 0,
"DrawDebugPoints": false
}
},
Configuring vehicle-specific sensor list
A vehicle can override a subset of the default sensors listed above. A Lidar and Distance sensor are not added to a vehicle by default, so those you need to add this way. Each sensor must have a valid "SensorType" and a subset of the properties can be defined that override the default values shown above and you can set Enabled to false to disable a specific type of sensor.
"Vehicles": {
"Drone1": {
"VehicleType": "SimpleFlight",
"AutoCreate": true,
...
"Sensors": {
"MyLidar1": {
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 16,
"PointsPerSecond": 10000,
"X": 0, "Y": 0, "Z": -1,
"DrawDebugPoints": true
},
"MyLidar2": {
"SensorType": 6,
"Enabled" : true,
"NumberOfChannels": 4,
"PointsPerSecond": 10000,
"X": 0, "Y": 0, "Z": -1,
"DrawDebugPoints": true
}
}
}
}
Sensor specific settings
Each sensor-type has its own set of settings as well.
Please see lidar for example of Lidar specific settings.
Please see echo for example of Echo specific settings.
Please see GPU lidar for example of GPU Lidar specific settings.
Sensor APIs
Barometer
msr::airlib::BarometerBase::Output getBarometerData(const std::string& barometer_name, const std::string& vehicle_name);
barometer_data = client.getBarometerData(barometer_name = "", vehicle_name = "")
IMU
msr::airlib::ImuBase::Output getImuData(const std::string& imu_name = "", const std::string& vehicle_name = "");
imu_data = client.getImuData(imu_name = "", vehicle_name = "")
GPS
msr::airlib::GpsBase::Output getGpsData(const std::string& gps_name = "", const std::string& vehicle_name = "");
gps_data = client.getGpsData(gps_name = "", vehicle_name = "")
Magnetometer
msr::airlib::MagnetometerBase::Output getMagnetometerData(const std::string& magnetometer_name = "", const std::string& vehicle_name = "");
magnetometer_data = client.getMagnetometerData(magnetometer_name = "", vehicle_name = "")
Distance sensor
msr::airlib::DistanceSensorData getDistanceSensorData(const std::string& distance_sensor_name = "", const std::string& vehicle_name = "");
distance_sensor_data = client.getDistanceSensorData(distance_sensor_name = "", vehicle_name = "")