IMU linear acceleration XY compare to MultiRotorState linear acceleration XY

[iagupov]

Hi everyone, could you please clarify why IMU linear acceleration data in XY plane is so low and very different from the one obtained from MultiRotorState (image below)? The z-component is fine, at least the same order.

At the same time angular velocities obtained from IMU and MultiRotosState are completely the same (image blow):

I found a similar issue but without any reply.

Unreal Engine 4.27, airsim 1.8.1, python 3.8

Thank you so much for any help